Motor controller

ABSTRACT

A motor controller comprising a machine system ( 12 ) having a load machine ( 1 ), a transmission mechanism ( 2 ) for transmitting power, and a motor for driving the load machine through the transmission mechanism; a simulator unit ( 11 ) having a numeric model ( 9 ) including the machine system, a simulation control section ( 19 ) for giving a torque command to the numeric model by using an observable quantity of state of the numeric model, and an evaluating section ( 10 ) for sending a control parameter to the simulation control section and an actual control unit; and the actual control unit ( 18 ) having an actual control section which receives an observable quantity of state of an actual system and has the same structure as that of the simulator unit and adapted to supply a torque signal to the motor serving as a drive source. Therefore the control gain of a motor controller can be automatically adjusted quickly and optimally.

TECHNICAL FIELD OF THE INVENTION

The present invention relates to an apparatus for controlling anelectric motor (direct current motor, induction motor, synchronousmotor, linear motor, etc.) that drives a load machine such as, forexample, a table of a machine tool, and an arm of a robot, etc.

BACKGROUND ARTS

A description is given of a construction of a prior art example on thebasis of drawings. FIG. 79 shows a block diagram of an apparatus forcontrolling a prior art electric motor, which has been disclosed byJapanese Laid-Open Patent Publication No. Hei-9-131087. In FIG. 79, 20denotes a servo system, 21 denotes a controlling portion, 22 denotes anapproximate model, 23 denotes a model identifying portion, 24 denotes acontrol gain adjusting portion, 25 denotes a changeover means, 26denotes a canonical model and 27 denotes an evaluation calculatingportion.

Next, a description is further given of actions of the prior art exampledescribed above. As shown in FIG. 79, the prior art example is providedwith a model identifying portion 23 to prepare an approximate model 22,and a control gain adjusting apparatus 24 that carries out automaticadjustment of control gains by using a genetic algorithm method. In themodel identifying portion 23, appropriate models to perform adjustmentare defined in advance in the approximate model 22, and only unknownconstants are identified by the least-squares method. In the controlgain adjusting apparatus 24, the control gains are optimized byutilizing the genetic algorithm. Also, during the adjustment, thecontrol gain adjusting apparatus 24 is changed to the side of an objectto be controlled, and a normal operation is commenced. By theabovementioned adjusting apparatus and adjustment method, the controlgain of a servo system can be optimally adjusted at a high speed withoutbeing biased by a local solution.

However, in the prior art apparatus, only the real control portion 21 isutilized when optimizing the control gain, and this may cause aninconvenience in the applications thereof. In addition, since anidentifying instruction is the same as a real instruction, it isdifficult to change the instruction. There is another problem in that alonger adjustment time is required.

It is therefore an object of the present invention to automatically andoptimally adjust the control gain at a high speed.

DISCLOSURE OF THE INVENTION

An apparatus for controlling an electric motor according to theinvention comprises: a mechanical system provided with a load machine, atransmission mechanism to transmit power, and an electric motor thatdrives the load machine via the transmission mechanism; a simulatorportion provided with a numerical model including the mechanical system,a simulation controlling portion to provide the numerical model with atorque instruction by using an observable quantity of state of thenumerical model, and an evaluation portion to provide the simulationcontrolling portion and real controlling portion with controlparameters; and a real controlling portion having the same structure asthat of the simulator portion, in which an observable quantity of statefrom the real system is used as an input; and wherein the realcontrolling portion supplies a torque signal to the electric motor thatis a drive source.

Further, an apparatus for controlling an electric motor according to theinvention is provided with a means for supplying control parameters,which are obtained by the evaluation portion of the simulation portionto the real control portion after the simulation portion is driven priorto a real operation and a simulation evaluation function for evaluatingthe behavior of the numerical model satisfies the initial conditionsestablished in advance.

Also, an apparatus for controlling an electric motor according to theinvention is provided with the numerical model that provides asimulation speed signal and a simulation position signal based on asimulation torque with respect to a given real position instruction; asimulation PID controlling portion that provides a simulation torqueinstruction to the numerical model on the basis of the simulation speedsignal and simulation position signal of the numerical model; and a realPID controlling portion that provides a real torque signal on the basisof the real position instruction, real position signal and real speedsignal.

Further, an apparatus for controlling an electric motor according to theinvention is provided with a numerical model that provides a simulationposition signal on the basis of a simulation torque instruction; asimulation PID controlling portion that provides the numerical modelwith the simulation torque instruction on the basis of a simulationposition signal of the numerical model; and a real PID controllingportion that provides a real torque signal on the basis of the realposition instruction and the real position signal.

In addition, an apparatus for controlling an electric motor according tothe invention is provided with a numerical model that provides asimulation speed signal on the basis of a simulation torque instructionwith respect to a given real speed instruction; a simulation PIDcontrolling portion that provides the numerical model with a simulationtorque instruction on the basis of the simulation speed signal of thenumerical model; and a real PID controlling portion that provides a realtorque signal on the basis of the real speed instruction and real speedsignal.

Further, an apparatus for controlling an electric motor according to theinvention is provided with a simulation controlling portion consistingof a simulation PID controlling portion, which provides the numericalmodel with a simulation torque instruction on the basis of thesimulation speed signal and simulation position signal of the numericalmodel, and a simulation compensating portion; and a real controllingportion consisting of a real PID controlling portion that provides areal torque signal based on the real position instruction, real positionsignal and real speed signal, and a real compensating portion.

Still further, an apparatus for controlling an electric motor accordingto the invention is provided with a simulation controlling portionconsisting of a simulation PID controlling portion, which provides thenumerical model with a simulation torque instruction on the basis of thesimulation signal of the numerical model, and a simulation compensatingportion; and a real controlling portion consisting of a real PIDcontrolling portion, which provides a real torque on the basis of thereal position instruction and real position signal, and a realcompensating portion.

Also, an apparatus for controlling an electric motor according to theinvention is provided with a real controlling portion consisting of asimulation PI controlling portion that provides the numerical model witha simulation torque instruction on the basis of a simulation speedsignal of the numerical model, a simulation compensating portion, a realPI controlling portion that provides a real torque signal on the basisof a real speed instruction and the real speed signal, and a realcompensating portion.

Also, an apparatus for controlling an electric motor according to theinvention is provided with a simulation controlling portion that isconstructed of a simulation PID controlling portion, which provides thenumerical model with a simulation torque instruction on the basis of asimulation speed signal of the numerical model and a simulation positionsignal thereof, and a simulation compensating portion consisting of aplurality of types of simulation compensators; and a real controllingportion that is constructed of a real PID controlling portion, whichprovides a real torque signal on the basis of a real positioninstruction, the real position signal and the real speed signal, and areal compensating portion consisting of a plurality of types of thesimulation compensators.

Also, an apparatus for controlling an electric motor according to theinvention is provided with a simulation controlling portion that isconstructed of a simulation PID controlling portion, which provides thenumerical model with a simulation torque instruction on the basis of asimulation position signal of the numerical model, and a simulationcompensating portion consisting of a plurality of types of simulationcompensators; and a real controlling portion that is constructed of areal PID controlling portion, which provides a real torque signal on thebasis of a real position instruction and the real position signal, and areal compensating portion consisting of a plurality of simulationcompensators.

Further, an apparatus for controlling an electric motor according to theinvention is provided with a simulation controlling portion that isconstructed of a simulation PI controlling portion, which provides thenumerical model with a simulation torque instruction on the basis of asimulation speed signal of the numerical model, and a simulationcompensating portion consisting of a plurality of types of simulationcompensators; and a real controlling portion that is constructed of areal PI controlling portion, which provides a real torque signal on thebasis of a real speed instruction and the real speed signal, and a realcompensating portion consisting of a plurality of simulationcompensators.

In addition, an apparatus for controlling an electric motor according tothe invention is provided with a means for preparing a numerical modelby using an observable quantity of state, which is obtained by drivingthe real system based on the initial controlling parameters initiallyestablished by the real controlling portion, and an initial torqueinstruction given to a real driving portion in the initial state wherethe numerical model of the simulator portion is constituted; driving thereal system after the controlling parameters are provided;re-determining the numerical model of the simulator portion by using,where the behaviors of the real system do not satisfy the on-realrunning evaluation function established in advance, the real runningtorque instruction at that time and the observable quantity of the realrunning state of the real system; and re-starting the simulator portionto re-determine the controlling parameters.

Further, an apparatus for controlling an electric motor according to theinvention is provided with a simulation controlling portion that isconstructed of a simulation PID controlling portion, which provides thenumerical model with a simulation torque instruction on the basis of asimulation speed signal of the numerical model and simulation positionsignal thereof, and a simulation compensating portion consisting of aplurality of types of simulation compensators; and a real controllingportion that is constructed of a real PID controlling portion, whichprovides a real torque signal on the basis of a real positioninstruction, the real position signal and the real speed signal, and areal compensating portion consisting of a plurality of simulationcompensators.

Still further, an apparatus for controlling an electric motor accordingto the invention is provided with a simulation controlling portion thatis constructed of a simulation PID controlling portion, which providesthe numerical model with a simulation torque instruction on the basis ofa simulation position signal of the numerical model, and a simulationcompensating portion consisting of a plurality of types of simulationcompensators; and a real controlling portion that is constructed of areal PID controlling portion, which provides a real torque signal on thebasis of a real position instruction and the real position signal, and areal compensating portion consisting of a plurality of simulationcompensators.

Also, an apparatus for controlling an electric motor according to theinvention is provided with a simulation controlling portion that isconstructed of a simulation PI controlling portion, which provides thenumerical model with a simulation torque instruction on the basis of asimulation speed signal of the numerical model, and a simulationcompensating portion consisting of a plurality of types of simulationcompensators; and a real controlling portion that is constructed of areal PI controlling portion, which provides a real torque signal on thebasis of a real speed instruction and the real speed signal, and a realcompensating portion consisting of a plurality of simulationcompensators.

Therefore, according to claims 1 through 3 of the invention, a realposition signal and a real speed signal can be detected by anobservation device 1. A simulation speed signal and a simulationposition signal are outputted by a 2-inertia numerical model. Asimulation torque signal is outputted by the simulation controllingportion. An evaluation portion outputs the first simulation positioninstruction signal, a simulation gain and a real gain. The machinesystem is controlled at the optimal gain by the real controllingportion.

Therefore, according to claim 4 of the invention, a real position signalis detected by the observation device 1. A simulation position signal isoutputted by the 2-inertia numerical model. A simulation torque signalis outputted by the simulation controlling portion. The evaluationportion outputs the first simulation position instruction signal, asimulation gain and a real gain. The machine system is controlled at theoptimal gain by the real controlling portion.

Also, according to claim 5 of the invention, the real speed signal isdetected by the observation device 1. A simulation speed signal isoutputted by the 2-inertia numerical model. A simulation torque signalis outputted by the simulation controlling portion. The evaluationportion outputs the first simulation speed instruction signal,simulation gain and real gain. The machine system is controlled at theoptimal gain by the real controlling portion.

Therefore, according to claim 6 of the invention, the real positionsignal and real speed signal are detected by the observation device 1. Asimulation speed signal and a simulation position signal are outputtedby the 2-inertia numerical model. A simulation torque signal isoutputted by the simulation controlling portion. The evaluation portionoutputs the first simulation position instruction signal, simulationgain and real gain. The machine system is controlled at the optimalcompensation gain and optimal feedback gain by the real controllingportion.

Also, according to claim 7 of the invention, the real position signal isdetected by the observation device 1. A simulation position signal isoutputted by the 2-inertia numerical model. A simulation torque signalis outputted by the simulation controlling portion. The evaluationportion outputs the first simulation position instruction signal,simulation gain and real gain. The machine system is controlled at theoptimal compensation gain and optimal feedback gain by the realcontrolling portion.

Therefore, according to claim 8 of the invention, the real speed signalis detected by the observation device 1. A simulation speed signal isoutputted by the 2-inertia numerical model. A simulation torque signalis outputted by the simulation controlling portion. The evaluationportion outputs the first simulation speed instruction signal,simulation gain and real gain. The machine system is controlled at theoptimal compensation gain and optimal feedback gain by the realcontrolling portion.

Therefore, according to claim 9 of the invention, the real positionsignal and real speed signal are detected by the observation device 1. Asimulation speed signal and a simulation position signal are outputtedby the 2-inertia numerical model. A simulation torque signal isoutputted by the simulation controlling portion. The evaluation portionoutputs the first simulation position instruction, simulation gain andreal gain. The machine system is controlled by the optimal compensatorat the optimal compensation gain and optimal feedback gain by the realcontrolling portion.

Also, according to claim 10 of the invention, a real position signal isdetected by the observation device 1. A simulation position signal isoutputted by the 2-inertia numerical model. A simulation torque signalis outputted by the simulation controlling portion. The evaluationportion outputs the first simulation position instruction signal, andsimulation gain, and real gain. The machine system is controlled at theoptimal compensation gain and optimal feedback gain by the realcontrolling portion, using an optimal compensator.

Also, according to claim 11 of the invention, the real speed signal isdetected by the observation device 1. A simulation speed signal isoutputted by the 2-inertia numerical model. A simulation torque signalis outputted by the simulation controlling portion. The evaluationportion outputs the first simulation speed instruction signal,simulation gain and real gain. The machine system is controlled at theoptimal compensation gain and optimal feedback gain by the realcontrolling portion, using an optimal compensator.

Therefore, according to claims 12 and 13 of the invention, a realposition signal and a real speed signal are detected by the observationdevice 1. A simulation speed signal and a simulation position signal areoutputted by the 2-inertia numerical model. A simulation torque signalis outputted by the simulation controlling portion. First, theevaluation portion identifies optimal parameters of the 2-inertianumerical model, which approximate the machine system, whereby the firstsimulation position instruction signal, simulation gain and real gainare outputted without directly measuring the parameters of the machinesystem. The machine system is controlled at the optimal compensationgain and optimal feedback gain by the real controlling portion, using anoptimal compensator.

Therefore, according to claim 14 of the invention, a real positionsignal is detected by the observation device 1. A simulation positionsignal is outputted by the 2-inertia numerical model. A simulationtorque signal is outputted by the simulation controlling portion. First,the evaluation portion identifies optimal parameters of the 2-inertianumerical model, which approximate the machine system, whereby the firstsimulation position instruction signal, simulation gain and real gainare outputted without directly measuring the parameters of the machinesystem. The machine system is controlled at the optimal compensationgain and optimal feedback gain by the real controlling portion, using anoptimal compensator.

Also, according to claim 15 of the invention, a real speed signal isdetected by the observation device 1. A simulation speed signal isoutputted by the 2-inertia numerical model. A simulation torque signalis outputted by the simulation controlling portion. First, theevaluation portion identifies optimal parameters of the 2-inertianumerical model, which approximate the machine system, whereby the firstsimulation speed instruction signal, simulation gain and real gain areoutputted without directly measuring the parameters of the machinesystem. In the real controlling portion, the machine system iscontrolled at the optimal compensation gain and optimal feedback gain byan optimal compensator.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing a first embodiment of the invention.

FIG. 2 is a block diagram showing a 2-inertia numerical model accordingto the first embodiment of the invention.

FIG. 3 is a block diagram showing a real PID controlling portionaccording to the first embodiment of the invention.

FIG. 4 is a block diagram showing a simulation PID controlling portionaccording to the first embodiment of the invention.

FIG. 5 is a block diagram showing an evaluation portion according to thefirst embodiment of the invention.

FIG. 6 is a block diagram showing an upper-grade controller according tothe first embodiment of the invention.

FIG. 7 is a block diagram showing a simulation instruction converteraccording to the first embodiment of the invention.

FIG. 8 is a block diagram showing a canonical response generatoraccording to the first embodiment of the invention.

FIG. 9 is a flow chart showing the central processing unit according tothe first embodiment of the invention.

FIG. 10 is a block diagram showing a second embodiment of the invention.

FIG. 11 is a block diagram showing a 2-inertia numerical model accordingto the second embodiment of the invention.

FIG. 12 is a block diagram showing a real PID controlling portionaccording to the second embodiment of the invention.

FIG. 13 is a block diagram showing a simulation PID controlling portionaccording to the second embodiment of the invention.

FIG. 14 is a block diagram showing a real PI controlling portionaccording to a third embodiment of the invention.

FIG. 15 is a block diagram showing a simulation PI controlling portionaccording to the third embodiment of the invention.

FIG. 16 is a block diagram showing the third embodiment of theinvention.

FIG. 17 is a block diagram showing an evaluation portion according tothe third embodiment of the invention.

FIG. 18 is a block diagram showing an upper-grade controller accordingto the third embodiment of the invention.

FIG. 19 is a flow chart showing the central processing unit according tothe third embodiment of the invention.

FIG. 20 is a block diagram showing a canonical response generatoraccording to the third embodiment of the invention.

FIG. 21 is a block diagram showing a 2-inertia numerical model accordingto the third embodiment of the invention.

FIG. 22 is a block diagram showing a fourth embodiment of the invention.

FIG. 23 is a block diagram showing a real compensating portion accordingto the fourth embodiment of the invention.

FIG. 24 is a block diagram showing an evaluation portion according tothe fourth embodiment of the invention.

FIG. 25 is a block diagram showing a simulation compensating portionaccording to the fourth embodiment of the invention.

FIG. 26 is a flow chart showing the central processing unit according tothe fourth embodiment of the invention.

FIG. 27 is a block diagram showing an upper-grade controller accordingto the fourth embodiment of the invention.

FIG. 28 is a block diagram showing a fifth embodiment of the invention.

FIG. 29 is a block diagram showing a sixth embodiment of the invention.

FIG. 30 is a block diagram showing a real compensator according to thesixth embodiment of the invention.

FIG. 31 is a block diagram showing an evaluation portion according tothe sixth embodiment of the invention.

FIG. 32 is a block diagram showing a simulation compensator according tothe sixth embodiment of the invention.

FIG. 33 is a flow chart showing the central processing unit according tothe sixth embodiment of the invention.

FIG. 34 is a block diagram showing an upper-grade controller accordingto the sixth embodiment of the invention.

FIG. 35 is a block diagram showing a seventh embodiment of theinvention.

FIG. 36 is a block diagram showing a simulation compensator according tothe seventh embodiment of the invention.

FIG. 37 is a block diagram showing the first simulation compensatoraccording to the seventh embodiment of the invention.

FIG. 38 is a block diagram showing the second simulation compensatoraccording to the seventh embodiment of the invention.

FIG. 39 is a block diagram showing the third simulation compensatoraccording to the seventh embodiment of the invention.

FIG. 40 is a block diagram showing a real compensator according to theseventh embodiment of the invention.

FIG. 41 is a block diagram showing the first real compensator accordingto the seventh embodiment of the invention.

FIG. 42 is a block diagram showing the second real compensating portionaccording to the seventh embodiment of the invention.

FIG. 43 is a block diagram showing the third real compensating portionaccording to the seventh embodiment of the invention.

FIG. 44 is a block diagram showing a 2-inertia numerical model accordingto the seventh embodiment of the invention.

FIG. 45 is a block diagram showing an evaluation portion according tothe seventh embodiment of the invention.

FIG. 46 is a flow chart showing the central processing unit according tothe seventh embodiment of the invention.

FIG. 47 is a block diagram showing an upper-grade controller accordingto the seventh embodiment of the invention.

FIG. 48 is a block diagram showing an eighth embodiment of theinvention.

FIG. 49 is a block diagram showing a 2-inertia numerical model accordingto the eighth embodiment of the invention.

FIG. 50 is a block diagram showing a 2-inertia numerical model accordingto a ninth embodiment of the invention.

FIG. 51 is a block diagram showing the ninth embodiment of theinvention.

FIG. 52 is a block diagram showing a simulation compensating portionaccording to the ninth embodiment of the invention.

FIG. 53 is a block diagram showing the first simulation compensatingportion according to the ninth embodiment of the invention.

FIG. 54 is a block diagram showing the second simulation compensatingportion according to the ninth embodiment of the invention.

FIG. 55 is a block diagram showing the third simulation compensatingportion according to the ninth embodiment of the invention.

FIG. 56 is a block diagram showing a real compensating portion accordingto the ninth embodiment of the invention.

FIG. 57 is a block diagram showing the first real compensating portionaccording to the ninth embodiment of the invention.

FIG. 58 is a block diagram showing the second real compensating portionaccording to the ninth embodiment of the invention.

FIG. 59 is a block diagram showing the third real compensating portionaccording to the ninth embodiment of the invention.

FIG. 60 is a block diagram showing an evaluation portion according tothe ninth embodiment of the invention.

FIG. 61 is a flow chart showing the central processing unit according tothe ninth embodiment of the invention.

FIG. 62 is a block diagram showing an upper-grade controller accordingto the ninth embodiment of the invention.

FIG. 63 is a block diagram showing a tenth embodiment of the invention.

FIG. 64 is a block diagram showing a 2-inertia numerical model accordingto the tenth embodiment of the invention.

FIG. 65 is a block diagram showing an evaluation portion according tothe tenth embodiment of the invention.

FIG. 66 is a block diagram showing an upper-grade controller accordingto the tenth embodiment of the invention.

FIG. 67 is a block diagram showing a canonical response generatoraccording to the tenth embodiment of the invention.

FIG. 68 is a block diagram showing a relay according to the tenthembodiment of the invention.

FIG. 69 is a flow chart showing the central processing unit according tothe tenth embodiment of the invention.

FIG. 70 is a flow chart showing an identification step according to thetenth embodiment of the invention.

FIG. 71 is a block diagram showing an eleventh embodiment of theinvention.

FIG. 72 is a block diagram showing a 2-inertia numerical model accordingto the eleventh embodiment of the invention.

FIG. 73 is a block diagram showing a 2-inertia numerical model accordingto a twelfth embodiment of the invention.

FIG. 74 is a block diagram showing the twelfth embodiment of theinvention.

FIG. 75 is a block diagram showing an evaluation portion according tothe twelfth embodiment of the invention.

FIG. 76 is a block diagram showing an upper-grade controller accordingto the twelfth embodiment of the invention.

FIG. 77 is a block diagram showing a canonical response generatoraccording to the twelfth embodiment of the invention.

FIG. 78 is a flow chart showing the central processing unit according tothe twelfth embodiment of the invention.

FIG. 79 is a block diagram showing a prior art controlling apparatus.

BEST MODE FOR CARRYING OUT THE INVENTION

A description is given of the embodiments of the invention withreference to the accompanying drawings. First, the first embodiment ofthe invention is described with reference to FIG. 1 through FIG. 9. FIG.1 is a block diagram showing the entirety of the first embodiment of theinvention. In FIG. 1, the first embodiment of the invention is providedwith a load machine 1, a transmission mechanism 2, a drive unit 3, apower converting circuit 5, an observation device 4, a positioninstruction generator 6, a real PID controlling portion 7, a simulationPID controlling portion 8, a 2-inertia numerical model 9, and anevaluation portion 10. The load machine 1, transmission mechanism 2,drive unit 3, observation device 4, power converting circuit 5 andposition instruction generator 6 are identical to those in the prior artapparatus.

FIG. 2 is a block diagram showing a detailed construction of theabove-described 2-inertia numerical model 9. In FIG. 2, the 2-inertianumerical model 9 consists of 2-inertia systems and one spring system.

FIG. 3 is a block diagram showing a detailed construction of theabove-described PID controlling portion 7. In FIG. 3, the real PIDcontrolling portion 7 is constructed of a real position controllingportion and a real speed controlling portion.

FIG. 4 is a block diagram showing a detailed construction of theabove-described simulation PID controlling portion 7. In FIG. 4, thesimulation PID controlling portion 8 has the same structure as that ofthe real PID controlling portion 7, and is constructed of a simulationposition controlling portion and a simulation speed controlling portion.

FIG. 5 is a block diagram showing a detailed construction of theabove-described evaluation portion 10. In FIG. 5, the evaluation portion10 is constructed of the upper-grade controller 10 a and theoptimization adjuster 10 b.

FIG. 6 is a block diagram showing a detailed construction of theabove-described upper-grade controller 10 a. In FIG. 6, the upper-gradecontroller 10 a is constructed of a simulation instruction converter 10a 1, a canonical response generator 10 a 2, the third signal processor10 a 3, the first signal processor 10 a 4, an evaluation function unit10 a 5, the second signal processor 10 a 6, a central processing unit 10a 7, the second numerical processor 10 a 8, and the first numericalprocessor 10 a 9.

FIG. 7 is a block diagram showing a detailed construction of theabove-described simulation instruction converter 10 a 1. In FIG. 7, theabove-described simulation instruction converter 10 a 1 is constructedof the fourth numerical processor 10 a 1 a, simulation instructiongenerator 10 a 1 b, and a simulation instruction processor 10 a 1 c.

FIG. 8 is a block diagram showing a detailed construction of theabove-described canonical response generator 10 a 2. In FIG. 9, theabove-described canonical response generator 10 a 2 is constructed oftwo integrators expressing a rigidity system, and a canonical positioncontrolling portion and a canonical speed controlling portion, whichcontrol the two integrators.

FIG. 9 is a flow chart showing a detailed construction of theabove-described central processing unit 10 a 7. In FIG. 9, theabove-described central processing unit 10 a 7 is provided with anadjustment process, which consists of the third through eleventh steps,the first loop controlling portion and the second loop controllingportion, the first step, and the second step.

Next, a description is given of the actions of the first embodiment withreference to FIG. 1 through FIG. 9.

First, the 2-inertia numerical model 9 shown in FIG. 2 carries outapproximation of the input and output characteristics of theabove-described machine system. As shown in FIG. 2, in the 2-inertianumerical model 9, a simulation position signal and a simulation speedsignal are obtained by four integrators, two adders, and one coefficientunit, which are shown in FIG. 2, with respect to a simulation torquesignal inputted through a connector 4CN1, and are, respectively,outputted through connectors 4CN2 and 4CN3. The 2-inertia numericalmodel 9 shown in FIG. 2 can be achieved by an electric circuit or bydigital calculations.

A real PID controlling portion 7 shown in FIG. 3 is a commonly used PIDcontrolling portion. In the real PID controlling portion 7 shown in FIG.3, a real torque signal is obtained by a real position controllingportion and a real speed controlling portion with respect to a realposition instruction, a real position signal and a real speed signal,which are inputted through connectors 5CN1, 5CN2, and 5CN3, and isoutputted through a connector 5CN4. However, the real position gain ofthe above-described real position controlling portion, real speed gainof the above-described real speed controlling portion and realintegration gain of the above-described real speed controlling portionare renewed by renewing the real control gain inputted through aconnector 5CN5.

A simulation PID controlling portion 8 shown in FIG. 4 has the sameconstruction as that of the real PID controlling portion 7. In thesimulation PID controlling portion 8 shown in FIG. 4, a simulationtorque signal is obtained by a simulation position controlling portionand a simulation speed controlling portion with respect to the firstsimulation position instruction signal, simulation position signal andsimulation speed signal, which are inputted through connectors 3CN1,3CN2 and 3CN3, as in the real PID controlling portion 7, and isoutputted through a connector 3CN4. But, the simulation position gain ofthe above-described simulation position controlling portion, thesimulation speed gain of the above-described simulation speedcontrolling portion, and simulation integration gain of theabove-described simulation speed controlling portion are renewed byrenewing the simulation control gain inputted through the connector3CN5.

In the evaluation portion 10 shown in FIG. 5, the real positioninstruction and simulation position signal, which are inputted throughthe connectors 2CN1 and 2CN5, are inputted into connectors 6CN1 and 6CN5of the upper-grade controller 10 a, and the first simulation positioninstruction signal is obtained through a connector 6CN3 of theupper-grade controller 10 a by the upper-grade controller 10 a andoptimization adjuster 10 b, and is outputted from the connector 2CN3,wherein the real position gain, real speed gain and real integrationgain are obtained from the connector 6CN2 of the upper-grade controller10 a and outputted from the connector 2CN2, and the simulation positiongain, simulation speed gain, and simulation integration gain areobtained by the connector 6CN4 of the upper-grade controller 10 a, andis outputted through the connector 2CN4. The optimization adjuster 10 bhas a genetic operation shown in the prior arts, wherein by carrying outa genetic operation based on an evaluation value array and parent groupsof gains, which are inputted through a connector 7CN2, child groups ofgains are outputted through a connector 7CN1.

In the upper-grade controller 10 a shown in FIG. 6, the real positioninstruction inputted through the connector 6CN1 is inputted into aconnector 8CN1 of the simulation instruction converter 10 a 1. Thesimulation position signal inputted through the connector 6CN5 isinputted into a connector 13CN1 of the second signal processor 10 a 6.The child groups of gains inputted through the connector 6CN6 areinputted into a connector 19CN10 of the central processing unit 10 a 7.The first simulation position instruction signal, which is obtained by aconnector 10CN1 of the third signal processor 10 a 3, is outputted froma connector 6CN3 by the simulation instruction converter 10 a 1,canonical response generator 10 a 2, the third signal processor 10 a 3,the first signal processor 10 a 4, evaluation function unit 10 a 5, thesecond signal processor 10 a 6, central processing unit 10 a 7, thesecond numerical processor 10 a 8, and the first numerical processor 10a 9. The evaluation value array and parent groups of gains, which areobtained by the connector 16CN9 of the central processing unit 10 a 7are outputted through a connector 6CN7. The real position gain, realspeed gain and integration gain, which are obtained by a connector 14CN2of the first numerical processor 10 a 9, are outputted from a connector6CN2. And, the simulation position gain, simulation speed gain andsimulation integration gain, which are obtained by a connector 15CN2 ofthe second numerical processor 10 a 8, are outputted through a connector6CN4.

The first numerical processor 10 a 9 is provided with a means fordividing a new real gain array, which is inputted through a connector14CN1, into the real position gain, real speed gain and real integrationgain, outputting them from a connector 14CN2, and renewing the realposition gain, real speed gain and real integration gain of the real PIDcontrolling portion 7.

The second numerical processor 10 a 8 is provided with a means fordividing a new simulation gain array, which is inputted through aconnector 15CN1, into a simulation position gain, simulation speed gainand simulation integration gain, outputting them from a connector 15CN2,and renewing the simulation position gain, simulation speed gain andsimulation integration gain of the simulation PID controlling portion 8.

The first signal processor 10 a 4, first, digitizes a canonicalinstruction signal and a canonical response signal, which are inputtedthrough connectors 11CN2 and 11CN5 at a time interval (sampling time)determined by the first element of the second size array inputtedthrough the connector 11CN4, by a number of times, which is determinedby the second element of the above-described second size array, andstores the signals in the first storage space and second storage spaceof a memory of the first signal processor 10 a 4. Next, the first signalprocessor 10 a 4 outputs the contents of the first storage space of theabove-described memory through the connector 11CN1, depending on thestate of the third element of the above-described second size array, andfurther outputs the contents of the second storage space of theabove-described memory by the fourth element of the above-describedsecond size array from the connector 11CN3.

First, the second signal processor 10 a 6 digitizes a simulation signal,which is inputted through a connector 13CN1, at a time interval(sampling time) which is determined by the first element of the thirdsize array inputted through a connector 13CN3, by a number of times,which is determined by the second element of the above-described thirdsize array, and stores it in the memory of the second signal processor10 a 6. Next, the second signal processor 10 a 6 outputs the contents ofthe above-described memory from the connector 13CN2, depending on thestate of the third element of the above-described second size array.

First, the third signal processor 10 a 3 signalizes, in a fixedsequence, a numerical array which is inputted through a connector 10CN3,depending on the state of the third element of the above-described thirdsize array, by a number of times determined by the second element of theabove-described third size array at a time interval (sampling time) thatis determined by the first element of the first size array inputtedthrough the connector 10CN2, and outputs it through the connector 10CN1.

The evaluation function unit 10 a 5 carries out a square errorcalculation with respect to two arrays inputted through connectors 12CN1and 12CN2 as soon as the contents of the memory of the second signalprocessor 10 a 6 are inputted through the connectors 12CN2, obtains anevaluation value, and outputs it from the connector 12CN3.

In the simulation instruction converter 10 a 1 shown in FIG. 7, the realposition instruction inputted through a connector 8CN1 is inputted intoa connector 19CN2 of the simulation instruction processor 10 a 1 c, anda simulation position instruction array inputted through the connector8CN2 is inputted into a connector 17CN1 of the fourth numericalprocessor 10 a 1 a, wherein the second simulation position instructionsignal obtained by the simulation instruction processor 10 a 1 c isoutputted from the connector 8CN3.

The fourth numerical processor 10 a 1 a outputs the first element of thesimulation position instruction array inputted through a connector17CN1, and outputs the second and third elements of the simulationposition instruction array through a connector 17CN2.

The simulation instruction processor 10 a 1 c selects one of varioussignals, which are a real position instruction inputted through aconnector 19CN2 and the third simulation position instruction signalinputted through a connector 19CN4, depending on the state of the firstelement of the simulation position instruction array inputted through aconnector 19CN2, and outputs it through a connector 19CN3.

The simulation position instruction generator 10 a 1 b signalizes, in afixed sequence, the third element of the simulation position instructionarray inputted through a connector 18CN1 at a time interval (samplingtime) that is determined by the second element of the simulationposition instruction array inputted through a connector 18CN1, andoutputs it through a connector 18CN2.

The canonical response generator 10 a 2 a shown in FIG. 8 inputs thesecond simulation position instruction signal, which is inputted througha connector 9CN1, into a connector 22CN2 of the canonical responsegenerator 10 a 2 a for adjusting the control gain, and further inputs acanonical gain, which is inputted through a connector 9CN3, into aconnector 22CN1 of the canonical response generator 10 a 2 a foradjusting the control gain. The canonical response generator 10 a 2 aoutputs a canonical response signal, which is obtained from a connector22CN4 of the canonical response generator 10 a 2 a for adjusting thecontrol gain, from a connector 9CN4 and outputs a canonical positioninstruction signal, which is obtained from a connector 22CN3 of thecanonical response generator 10 a 2 a for adjusting the control gain,from a connector 9CN2.

The canonical response generator 10 a 2 a for adjusting a control gain,first, adjusts coefficients of respective coefficient units shown inFIG. 9 on the basis of respective coefficients of the canonical gaininputted through a connector 22CN1.

Next, the respective calculation actions shown in FIG. 9 are carried outwith respect to the second simulation position instruction signal thatis inputted through a connector 22CN2, and the obtained canonicalresponse signal is outputted from a connector 22CN4.

In the central processing unit 10 a 7 shown in FIG. 9, the first step,second step and adjustment step are carried out in the order shown inFIG. 10.

The first step establishes a simulation position instruction array, acanonical gain, the first size array, the second size array, the thirdsize array, the number of children of the child group of gains, thenumber of parents of the parent groups of gains, and the number ofgenerations. However, the parent gains in the parent groups are thoseestablished so that they compose a gain array including a position gain,speed gain and integration gain.

The second step initializes the parent groups of gains at random andcodes the parent groups of gains.

In the order shown in FIG. 10, the adjustment step carries out the thirdthrough eleventh steps, and carries out the first loop controllingportion and the second loop controlling portion.

The third step writes a simulation position instruction array in theconnector 8CN2 of the simulation instruction converter 10 a 1 throughthe connector 16CN8, whereby the second simulation instruction signal isobtained from the connector 8CN3 of the simulation instruction converter10 a 1. The fourth step writes a canonical gain in the connector 9CN3 ofthe canonical response generator 10 a 2 through the connector 16CN7,whereby a canonical instruction signal is obtained from the connector9CN2 of the canonical response generator 10 a 2, and another canonicalresponse signal is obtained from the connector 9CN4 of the canonicalresponse generator 10 a 2.

The fifth step writes the second size array in the connector 11CN4 ofthe first signal processor 10 a 4 through the connector 16CN1, whereby acanonical instruction array is obtained from the connector 11CN1 of thefirst signal processor 10 a 4, and a canonical response is obtained fromthe connector 11CN3 of the first signal processor 10 a 4.

The sixth step writes a simulation gain array, which is a parent of theparent groups of gains, in the connector 15CN1 of the second numericalprocessor 10 a 8 in the fixed order through the connector 16CN1, wherebythe respective gains of the simulation PID controlling portion 8 arerenewed through the connector 15CN2 of the second numerical processor 10a 8.

The seventh step writes the first size array in the connector 10CN2 ofthe third signal processor 10 a 3 through the connector 16CN6, andwrites the third size array in the connector 13CN3 of the second signalprocessor 10 a 6 through the connector 16CN3, whereby a simulationresponse array is obtained from the connector 13CN2 of the second signalprocessor 10 a 6.

The eighth step reads an evaluation value from the connector 12CN3 ofthe evaluation function unit 10 a 5 through the connector 16CN2, wherebyan evaluation value corresponding to the simulation gain array, which isthe parent selected in the sixth step, is obtained.

The ninth step reads parent groups of gains and evaluation value arraysin the connector 7CN2 of the optimization adjuster 10 b, whereby childgroups of gains are obtained from the connector 7CN1 of the optimizationadjuster 10 b.

The tenth step reads child groups of gains from the connector 7CN1 ofthe optimization adjuster 10 b through the connector 16CN10, and renewsthe contents of the parent groups of gains.

The eleventh step writes the optimal gain, which is the optimal parentof the parent groups of gains, in the connector 14CN1 of the firstnumerical processor 10 a 9 through the connector 16CN5 as a real gainarray, and commences the next operation. Thereby, the respective gainsof the real PID controlling portion are renewed.

The second loop controlling portion repeats the above-described sixththrough eighth steps by the number of the parents in the parent groupsof gains determined in the first step, calculates the evaluation valuesof the respective parents of the parent groups of gains, and renews theevaluation value arrays. At the end, the process enters the tenth step.

The first loop controlling portion is shifted to the second loopcontrolling portion by the number of generations determined in the firststep. At the end, the process enters the eleventh step.

Hereinafter, a description is given of the second embodiment withreference to FIG. 10 through FIG. 13.

FIG. 10 is a block diagram showing the entirety of the second embodimentof the invention. In FIG. 10, the second embodiment is composed of amachine system 12, an observation device 4A, a position instructiongenerator 6, a real PID controlling portion 7A, a simulation PIDcontrolling portion 8A, a 2-inertia numerical model 9A, and anevaluation portion 10. The load machine 1, transmission mechanism 2,drive unit 3, observation device 4A, power conversion circuit 5, andposition instruction generator 6 are identical to those in the priorarts.

FIG. 11 is a block diagram showing a detailed construction of theabove-described 2-inertia numerical model 9A. In FIG. 11, the 2-inertianumerical model 9A is composed of 2-inertia systems and one springsystem.

FIG. 12 is a block diagram showing a detailed construction of theabove-described PID controlling portion 7A. In FIG. 12, the real PIDcontrolling portion 7A is composed of a real position controllingportion, a real speed controlling portion, and a real speed inferenceunit.

FIG. 13 is a block diagram showing a detailed construction of theabove-described simulation PID controlling portion 8A. In FIG. 4, thesimulation PID controlling portion 8A has the same structure as that ofthe real PID controlling portion 7, which is composed of a simulationposition controlling portion, a simulation speed controlling portion,and a simulation speed inference unit. The position instructiongenerator 6 and evaluation portion 10 are those explained in the firstembodiment. Herein, a description of the position instruction generator6 and evaluation portion 10 is omitted.

Next, a description is given of the actions of the second embodimentwith reference to FIG. 10 through FIG. 13.

First, the 2-inertia numerical model 9A shown in FIG. 11 carries outapproximation of the input and output characteristics of theabove-described machine system 12. In the 2-inertia numerical model 9Aas shown in FIG. 11, a simulation position signal is obtained by fourintegrators, two adders, and one coefficient unit, which are shown inFIG. 11, with respect to the simulation torque signal inputted throughthe connector 24CN1, and is outputted through the connector 24CN3.

The real PID controlling portion 7A shown in FIG. 12 is a PIDcontrolling portion, which is usually used. In the real PID controllingportion 7A shown in FIG. 12, a real torque signal is obtained by thereal position controlling portion, real speed controlling portion, andreal speed inference unit with respect to the real position instructionand real position signal, which are inputted through connectors 25CN1and connector 25CN3, and is outputted through a connector 25CN4.However, the real position gain of the above-described real positioncontrolling portion, the real speed gain of the above-described realspeed controlling portion, and real integration gain of theabove-described real speed controlling portion are renewed by renewingthe real control gain that is inputted through a connector 25CN5.

The simulation PID controlling portion 8A shown in FIG. 13 has the samestructure as that of the real PID controlling portion 7A. In thesimulation PID controlling portion 8A shown in FIG. 13, as in the realPID controlling portion 7A, a simulation torque signal is obtained bythe simulation position controlling portion, simulation speedcontrolling portion, and simulation speed inference unit with respect tothe first simulation position instruction signal and simulation positionsignal, which are inputted through connectors 23CN1 and 23CN2, and isoutputted through a connector 23CN4. However, the simulation positiongain of the above-described simulation position controlling portion, thesimulation speed gain of the above-described simulation speedcontrolling portion, and simulation integration gain of theabove-described simulation speed controlling portion are renewed byrenewing the simulation control torque gain that is inputted through aconnector 23CN5.

Hereinafter, a description is given of the third embodiment of theinvention with reference to FIG. 14 through FIG. 21. FIG. 16 is a blockdiagram showing the entirety of the third embodiment of the invention.In FIG. 16, the third embodiment according to the invention is composedof a machine system 12, an observation device 4B, a speed instructiongenerator 6A, a real PI controlling portion 7B, a simulation PIcontrolling portion 8B, a 2-inertia numerical model 9B, and anevaluation portion 10A. The machine system 12 and speed instructiongenerator 6A are identical to those in the prior arts.

FIG. 22 is a block diagram showing a detailed construction of theabove-described 2-inertia numerical model 9B. In FIG. 22, the 2-inertianumerical model 9B is composed of 2-inertia systems and one springsystem.

FIG. 14 is a block diagram showing a detailed construction of theabove-described real PI controlling portion 7B. In FIG. 14, the real PIcontrolling portion 7 is composed of a real speed controlling portion.

FIG. 15 is a block diagram showing a detailed construction of theabove-described PI controlling portion 8B. In FIG. 15, the simulation PIcontrolling portion 8B has the same structure as that of the real PIcontrolling portion 7B and is composed of a simulation speed controllingportion.

FIG. 17 is a block diagram showing a detailed construction of theabove-described evaluation portion 10A. In FIG. 17, the evaluationportion 10A is composed of an upper-grade controller 10 aA and anoptimization adjuster 10 b.

FIG. 18 is a block diagram showing a detail construction of theabove-described upper-grade controller 10 aA. In FIG. 18, theupper-grade controller 10 aA is composed of a simulation instructionconverter 10 a 1, a canonical response generator 10 a 2A, the thirdsignal processor 10 a 3, the first signal processor 10 a 4, anevaluation function unit 10 a 5, the second signal processor 10 a 6, acentral processing unit 10 a 7A, the second numerical processor 10 a 8A,and the first numerical processor 10 a 9A.

FIG. 20 is a block diagram showing a detail construction of theabove-described canonical response generator 10 a 2A. In FIG. 20, theabove-described canonical response generator 10 a 2A is composed of twointegrators expressing a rigidity system and a canonical speedcontrolling portion for controlling the integrators.

FIG. 19 is a flow chart showing a detailed construction of theabove-described central processing unit 10 a 7A. In FIG. 19, theabove-described central processing unit 10 a 7A is composed of anadjustment step 10 a 7 a, the first A step, and the second A step.

The optimization adjuster 10 b, simulation instruction converter 10 a 1,the third signal processor 10 a 3, the first signal processor 10 a 4,evaluation function unit 10 a 5, and the second signal processor 10 a 6are those explained in the first embodiment. Herein, overlappingdescription thereof is omitted.

Next, a description is given of the actions of the third embodiment withreference to FIG. 14 through FIG. 21.

First, the 2-inertia numerical model 9B shown in FIG. 21 carries outapproximation of the input and output characteristics of theabove-described machine system. In the 2-inertia numerical model 9Bshown in FIG. 21, a simulation speed signal is obtained by fourintegrators, two adders and one coefficient unit, which are shown inFIG. 21, with respect to the simulation torque signal that is inputtedthrough a connector 37CN1, and is outputted through a connector 37CN2.

The real PI controlling portion 7B is a commonly used PI controllingportion. In the real PI controlling portion 7B shown in FIG. 14, a realtorque signal is obtained by the real speed controlling portion withrespect to the real speed instruction and real speed signal, which areinputted through connectors 30CN1 and 30CN2, and is outputted throughthe connector 30CN4. However, the real speed gain of the above-describedreal speed controlling portion and the real integration gain of theabove-described real speed controlling portion are renewed by renewingthe real control gains that are inputted through a connector 30CN5.

The simulation PI controlling portion 8B shown in FIG. 15 has the samestructure as that of the real PI controlling portion 7B. In thesimulation PI controlling portion 8B shown in FIG. 15, a simulationtorque signal is obtained by the simulation speed controlling portionwith respect to the first simulation speed instruction signal andsimulation speed signal, which are inputted through connectors 28CN1 and28CN2 as in the real PI controlling portion 7B, and is outputted througha connector 28CN4. However, the simulation speed gain of theabove-described simulation speed controlling portion and the simulationintegration gain of the above-described simulation speed controllingportion are renewed by renewing the simulation control gain, which isinputted through a connector 28CN5.

In the evaluation portion 10 shown in FIG. 17, the real speedinstruction and simulation speed signal, which are inputted throughconnectors 2CN1 and 2CN5, are inputted into connectors 31CN1 and 31CN5of the upper-grade controller 10 aA, and the first simulation speedinstruction signal is obtained from a connector 31CN3 of the upper-gradecontroller 10 aA by the upper-grade controller 10 aA and optimizationadjuster 10 b, and is outputted from a connector 27CN3. The real speedgain and real integration gain are obtained from a connector 31CN2 ofthe upper-grade controller 10 aA, and is outputted through a connector27CN2. Further, the simulation speed gain and simulation integrationgain are obtained from a connector 31CN4 of the upper-grade controller10 aA, and is outputted through a connector 27CN4.

In the upper-grade controller 10 aA shown in FIG. 18, the real speedinstruction that is inputted through a connector 31CN1 is inputted intoa connector 8CN1 of the simulation instruction converter 10 a 1, and thesimulation speed signal that is inputted through a connector 31CN5 isinputted into a connector 13CN1 of the second signal processor 10 a 6. Agroup of gains, which are inputted through a connector 31CN6, areinputted into a connector 33CN10 of the central processing unit 10 a 7A.The first simulation speed instruction signal that is obtained by theconnector 10CN1 of the third signal processor 10 a 3 is outputtedthrough a connector 31CN3 by the simulation instruction converter 10 a1, canonical response generator 10 a 2A, the third signal processor 10 a3, the first signal processor 10 a 4, evaluation function unit 10 a 5,the second signal processor 10 a 6, central processing unit 10 a 7, thesecond numerical processor 10 a 8, and the first numerical processor 10a 9. The evaluation value array and parent groups of gains, which areobtained by a connector 33CN9 of the central processing unit 10 a 7A areoutputted through a connector 31CN7. The real speed gain and realintegration gain, which are obtained through a connector 34CN2 of thefirst numerical processor 10 a 9A, are outputted through a connector31CN2. The simulation speed gain and simulation integration gain, whichare obtained through a connector 35CN2 of the second numerical processor10 a 8A, are outputted through a connector 31CN4.

The first numerical processor 10 a 9A is provided with a means fordividing a new real gain array, which is inputted through a connector34CN1, into a real speed gain and a real integration gain, outputtingthe same through a connector 34CN2, and renewing the real speed gain andreal integration gain of the real PI controlling portion 7B.

The second numerical processor 10 a 8 is provided with a means fordividing a new simulation gain array, which is inputted through aconnector 35CN1, into a simulation speed gain and a simulationintegration gain, outputting the same through a connector 35CN2, andrenewing the simulation speed gain and simulation integration gain ofthe simulation PI controlling portion 8B.

The canonical response generator 10 a 2A for adjustment, which is shownin FIG. 20, inputs the second simulation speed instruction signal, whichis inputted through a connector 32CN1, into a connector 36CN2 of thecanonical response generator 10 a 2AA for adjusting control gains, andinputs the canonical gain, which is inputted through a connector 32CN3,into a connector 36CN1 of the canonical response generator 10 a 2 aA foradjusting control gains, outputs the canonical response signal, which isobtained from a connector 36CN4 of the canonical response generator 10 a2 aA for adjusting the control gains, through a connector 32CN4, andoutputs the canonical speed instruction signal, which is obtained from aconnector 36CN3 of the canonical response generator 10 a 2 aA foradjusting control gains, from a connector 32CN2.

The canonical response generator 10 a 2 aA for adjusting control gainsfirst adjusts coefficients of the respective coefficient units shown inFIG. 20, on the basis of the respective coefficients of the canonicalgain inputted through a connector 36CN1. Next, respective calculationoperations shown in FIG. 20 are carried out with respect to the secondsimulation speed instruction signal that is inputted through a connector36CN2, and the obtained canonical response signal is outputted through aconnector 36CN4.

The first A step, second A step and adjustment step 10 a 7 a are carriedout by the central processor 10 a 7A shown in FIG. 19 in the sequenceshown in the same drawing.

The first A step establishes a simulation speed instruction array,canonical gain, the first size array, the second size array, the thirdsize array, number of children of the child groups of gains, and numberof parents in the parent groups of gains, and number of generations.However, the parent gains in the parent groups of gains are thoseestablished so that a gain array including a speed gain and anintegration gain is obtained.

The second A step initializes the parent groups of gains at random, andcodes the parent groups of gains.

Since the adjustment step 10 a 7 a has been already described in thefirst embodiment, herein, overlapping description thereof is omitted.

Hereinafter, a description is given of the fourth embodiment withreference to FIG. 22 through FIG. 27. FIG. 22 is a block diagram showingthe entirety of the fourth embodiment according to the invention. InFIG. 22, the fourth embodiment of the invention is provided with amachine system 12, an observation device 4, a position instructiongenerator 6, a real PID controlling portion 7, a simulation PIDcontrolling portion 8, a 2-inertia numerical model 9, an evaluationportion 10B, a real compensator 13, a simulation compensator 14, andadders 15 and 16. The machine system 12, observation device 4 andposition instruction generator 6 are identical to those in the priorart.

Since the real PID controlling portion 7, simulation PID controllingportion 8 and 2-inertia numerical model 9 are those described above,herein, overlapping description thereof is omitted.

FIG. 23 is a block diagram showing a detail construction of the realcompensator 13. In FIG. 23, the real compensator 13 is composed of onesecondary differentiator and one coefficient.

FIG. 25 is a block diagram showing a detailed construction of asimulation compensator 14. In FIG. 25, the simulation compensator 14 iscomposed of one secondary differentiator and one coefficient.

FIG. 24 is a block diagram showing a detailed construction of theabove-described evaluation portion 10B. In FIG. 24B, the evaluationportion 10B is composed of an upper-grade controller 10 aB and anoptimization adjuster 10 b. The optimization adjuster 10 b is thatdescribed above. Herein, overlapping description thereof is omitted.

FIG. 27 is a block diagram showing a detailed construction of theabove-described upper-grade controller 10 aB. In FIG. 27, theupper-grade controller 10 aB is composed of a simulation instructionconverter 10 a 1, a canonical response generator 10 a 2, the thirdsignal processor 10 a 3, the first signal processor 10 a 4, anevaluation function unit 10 a 5, the second signal processor 10 a 6, acentral processor 10 a 7B, the second numerical processor 10 a 8B, andthe first numerical processor 10 a 9B. The simulation instructionconverter 10 a 1, canonical response generator 10 a 2, third signalprocessor 10 a 3, first signal processor 10 a 4, evaluation functionunit 10 a 5, and second signal processor 10 a 6 are those describedabove. Hereinafter, overlapping description thereof is omitted.

FIG. 26 is a flow chart showing a detailed construction of theabove-described central processor 10 a 7B. In FIG. 26, theabove-described central processor 10 a 7B is composed of an adjustmentstep 10 a 7 a, the first B step, and the second B step. The adjustmentstep 10 a 7 a is that described above. Hereinafter, overlappingdescription thereof is omitted.

Next, a description is given of the actions of the fourth embodimentswith reference to FIG. 22 through FIG. 27.

In the evaluation portion 10B shown in FIG. 24, a real positioninstruction and a simulation position signal, which are inputted throughconnectors 38CN1 and 38CN5, are inputted into connectors 41CN1 and 41CN5of the upper-grade controller 10 aB. The first simulation positioninstruction signal is obtained from a connector 41CN3 by the upper-gradecontroller 10 aB and optimization adjuster 10 b, and is outputted from aconnector 38CN3, and a real position gain, a real speed gain and a realintegration gain are obtained from a connector 41CN2 of the upper-gradecontroller 10 aB, and are outputted through a connector 38CN2. Asimulation position gain, a simulation speed gain and a simulationintegration gain are obtained from a connector 41CN4 of the upper-gradecontroller 10 a, and are outputted from a connector 38CN4.

In the upper-grade controller 10 aB shown in FIG. 27, the real positioninstruction inputted through the connector 41CN1 is inputted into aconnector 8CN1 of the simulation instruction converter 10 a 1, and thesimulation position signal inputted through the connector 41CN5 isinputted into the connector 13CN1 of the second signal processor 10 a 6.Child groups of gains that are inputted through a connector 41CN6 areinputted into a connector 42CN10 of the central processor 10 a 7B, andthe first simulation position instruction signal, which is obtained by aconnector 10CN1 of the third signal processor 10 a 3, is outputted bythe simulation instruction converter 10 a 1, canonical responsegenerator 10 a 2, the third signal processor 10 a 3, the first signalprocessor 10 a 4, evaluation function unit 10 a 5, the second signalprocessor 10 a 6, central processor 10 a 7B, the second numericalprocessor 10 a 8B, and the first numerical processor 10 a 9B. Theevaluation value array and parent groups of gains, which are obtainedthrough a connector 42CN9 of the central processor 10 a 7D, areoutputted through a connector 41CN7. The real position gain, real speedgain and real integration gain, which are obtained through a connector43CN2 of the first numerical processor 10 a 9B, are outputted through aconnector 41CN2. The simulation position gain, simulation speed gain,simulation integration gain, and simulation compensation gain, which areobtained through a connector 44CN2 of the second numerical processor 10a 8B, are outputted through a connector 41CN4.

The first numerical processor 10 a 9B is provided with a means fordividing a new real gain array, which is inputted through a connector43CN1, into a real position gain, a real speed gain and a realintegration gain, outputting the same through a connector 43CN2, andrenewing the real position gain, real speed gain and real integrationgain of the real PID controlling portion 7.

The second numerical processor 10 a 8B is provided with a means fordividing a new simulation gain array , which is inputted through aconnector 44CN1, into a simulation position gain, a simulation speedgain, and a simulation integration gain, outputting the same through aconnector 15CN2, and renewing the simulation position gain, simulationspeed gain and simulation integration gain of the simulation PIDcontrolling portion 8.

In the central processor 10 a 7B shown in FIG. 26, the first B step,second B step and adjustment step 10 a 7 a are carried out in thesequence shown in FIG. 26.

The first B step establishes a simulation position instruction array, acanonical gain, the first size array, the second size array, the thirdsize array, number of children of the child groups of gains, the numberof parents of the parent groups of gains, and number of generations.However, the parent gains in the parent groups of gains are thoseestablished so that a gain array including a position gain, a speed gainand an integration gain and compensation gain can be brought about.

The second B step initializes the parent groups of gains and codes theparent groups of gains.

In a real compensator shown in FIG. 23, the second real torque signal isobtained by a second differentiator and a coefficient unit with respectto the real position instruction that is inputted through a connector39CN1, and is outputted through a connector 39CN2. However, thecoefficient of the above-described coefficient unit is renewed byrenewing the real compensation gain that is inputted through a connector39CN3.

In the simulation compensator 14 shown in FIG. 25, the second simulationtorque signal is obtained by the second differentiator and a coefficientunit with respect to the simulation position instruction, which isinputted through a connector 40CN1, and is outputted through a connector40CN2. However, the coefficient of the above-described coefficient unitis renewed by renewing the simulation compensation gain that is inputtedthrough a connector 40CN3.

The adder 15 shown in FIG. 22 adds the first real torque signal, whichis inputted from the input side of the adder 15, to the second realtorque signal, and outputs the real torque signal.

The adder 16 shown in FIG. 22 adds the first simulation torque signal,which is inputted from the input side of the adder 15, to the secondsimulation torque signal, and outputs the simulation torque signal.

Hereinafter, a description is given of the fifth embodiment of theinvention with reference to FIG. 28. FIG. 28 is a block diagram showingthe entirety of the fifth embodiment of the invention. In FIG. 28, thefifth embodiment according to the invention is composed of a machinesystem 12, an observation device 4A, a position instruction generator 6,a real PID controlling portion 7A, a simulation PID controlling portion8A, a 2-inertia numerical model 9A, an evaluation portion 10, a realcompensator 13, a simulation compensator 14, and adders 15 and 16,wherein the load machine 1, transmission 2, drive unit 3, observationdevice 4A, power conversion circuit 5, and position instructiongenerator 6 are identical to those in the prior art.

The real PID controlling portion 7A, simulation PID controlling portion8A, 2-inertia numerical model 9A, evaluation portion 10, realcompensator 13, simulation compensator 14, and adders 15 and 16 arethose described above. Hereinafter, overlapping description thereof isomitted.

Hereinafter, a description is given of the sixth embodiment according tothe invention with reference to FIG. 29 through FIG. 34. FIG. 29 is ablock diagram showing the entirety of the sixth embodiment according tothe invention. In FIG. 29, the sixth embodiment according to theinvention is composed of a machine system 12, observation device 4B,speed instruction generator 6A, real PI controlling portion 7B,simulation PI controlling portion 8B, 2-inertia numerical model 9B,evaluation portion 10C, real compensator 13A, simulation compensator14A, and adders 15 and 16, wherein the machine system 12 and speedinstruction generator 6A are identical to those in the prior art.

The real PI controlling portion 7B, simulation PI controlling portion8B, 2-inertia numerical model 9B, and adders 15 and 16 are thosedescribed above, and hereinafter, overlapping description thereof isomitted.

FIG. 32 is a block diagram showing a detailed construction of theabove-described evaluation portion 10C. In FIG. 32, the evaluationportion 10C is composed of an upper-grade controller 10 aC and anoptimization adjuster 10 b.

FIG. 34 is a block diagram showing a detailed construction of theabove-described upper-grade controller 10 aC. In FIG. 34, theupper-grade controller 10 aC is composed of a simulation instructionconverter 10 a 1, a canonical response generator 10 a 2A, the thirdsignal processor 10 a 3, the first signal processor 10 a 4, anevaluation function unit 10 a 5, the second signal processor 10 a 6, acentral processor 10 a 7C, the second numerical processor 10 a 8C, andthe first numerical processor 10 a 9C.

FIG. 33 is flow chart showing a detailed construction of theabove-described central processor 10 a 7C. In FIG. 33, theabove-described central processor 10 a 7C is composed of an adjustmentstep 10 a 7 a, the first C step and the second C step.

The optimization adjuster 10 b, simulation instruction converter 10 a 1,canonical response generator 10 a 2A, the third signal processor 10 a 3,the first signal processor 10 a 4, evaluation function unit 10 a 5, andthe second signal processor 10 a 6 are those described above.Hereinafter, overlapping description thereof is omitted.

FIG. 30 is a block diagram showing a detailed construction of the realcompensator 13A. In FIG. 30, the real compensator 13A is composed of onedifferentiator and one coefficient.

FIG. 32 is a block diagram showing a detailed construction of thesimulation compensator 14A. In FIG. 32, the real compensator 14A iscomposed of one differentiator and one coefficient.

Next, a description is given of the actions of the sixth embodiment withreference to FIG. 29 through FIG. 35. First, in the evaluation portion10C shown in FIG. 31, the real speed instruction and simulation speedsignal, which are inputted through connectors 45CN1 and 45CN5, areinputted into connectors 48CN1 and 48CN5 of the upper-grade controller10 aC. The first simulation speed instruction signal is obtained from aconnector 48CN3 of the upper-grade controller 10 aC by the upper-gradecontroller 10 aC and optimization adjuster 10 b, and is outputted from aconnector 45CN3. The real speed gain and real integration gain areobtained from a connector 48CN2 of the upper-grade controller 10 aC, andis outputted from a connector 45CN2. The simulation speed gain andsimulation integration gain are obtained from a connector 48CN4 of theupper-grade controller 10 aC, and are outputted from a connector 45CN4.

In the upper-grade controller 10 aC shown in FIG. 34, the real speedinstruction, which is inputted through a connector 48CN1, is inputtedinto a connector 8CN1 of the simulation instruction converter 10 a 1,and the simulation speed signal, which is inputted through a connector48CN5, is inputted into a connector 13CN1 of the second signal processor10 a 6. Child groups of gains, which are inputted through a connector48CN6, are inputted into a connector 49CN10 of the central processor 10a 7C, and the first simulation speed instruction signal, which isobtained by a connector 10CN1 of the third signal processor 10 a 3, isoutputted from a connector 48CN3 by the simulation instruction converter10 a 1, canonical response generator 10 a 2A, the third signal processor10 a 3, the first signal processor 10 a 4, evaluation function unit 10 a5, the second signal processor 10 a 6, central processor 10 a 7, thesecond numerical processor 10 a 8C, and the first numerical processor 10a 9C. The evaluation value array and parent groups of gains, which areobtained by a connector 49CN9 of the central processor 10 a 7C, areoutputted from a connector 48CN7, and the real speed gain and realintegration gain, which are obtained through a connector 50CN2 of thefirst numerical processor 10 a 9C, are outputted from a connector 48CN2.The simulation speed gain and simulation integration gain, which areobtained through a connector 50CN2 of the second numerical processor 10a 8C, are outputted through a connector 48CN4.

The first numerical processor 10 a 9C is provided with a means fordividing a new real gain array, which is inputted through a connector50CN1, into a real speed gain, real integration gain and realcompensation gain, outputting the same from a connector 50CN2, andrenewing the real speed gain and real integration gain of the real PIcontrolling portion 7B, and the real compensation gain of the realcompensator 13A.

The second numerical processor 10 a 8C is provided with a means fordividing a new simulation gain array, which is inputted through aconnector 51CN1, into a simulation speed gain, a simulation integrationgain and a simulation compensation gain, outputting the same through aconnector 51CN2, and renewing the simulation speed gain and simulationintegration gain of the simulation PI controlling portion 8B, and thesimulation compensation gain of the simulation compensator 14A.

In the central processor 10 a 7C shown in FIG. 33, the first C step, thesecond C step and adjustment step 10 a 7 a are carried out in thesequence shown in FIG. 33.

The first C step establishes a simulation speed instruction array,canonical gain, the first size array, the second size array, the thirdsize array, number of children of the child groups of gains, number ofparents of the parent groups of gains, and number of generations. Theparent gains of the parent groups of gains are those established so thata gain array including a speed gain, integration gain and compensationgain can be brought about.

The second C step initializes the parent groups of gains at random andcodes the parent groups of gains.

Since the adjustment step 10 a 7 a has been already described withrespect to the first embodiment, the description thereof is omittedherein.

In the real compensator 13A shown in FIG. 30, the second real torquesignal is obtained by a differentiator and a coefficient unit withrespect of the real speed instruction that is inputted through aconnector 47CN1, and is outputted through a connector 47CN2. However,the coefficient of the above-described coefficient unit is renewed byrenewing the real compensation gain that is inputted through a connector47CN3.

In the simulation compensator 14A shown in FIG. 32, the secondsimulation torque signal is obtained by a differentiator and acoefficient unit with respect to the simulation position instructionthat is inputted through a connector 46CN1, and is outputted through aconnector 46CN2. However, the coefficient of the above-describedcoefficient unit is renewed by renewing the simulation compensation gainthat is inputted through a connector 46CN3.

Hereinafter, a description is given of the seventh embodiment accordingto the invention with reference to FIG. 35 through FIG. 47. FIG. 35 is ablock diagram showing the entirety of the seventh embodiment accordingto the invention. In FIG. 35, the seventh embodiment according to theinvention is composed of a machine system 12, an observation device 4, aposition instruction generator 6, a real PID controlling portion 7, asimulation PID controlling portion 8, a 2-inertia numerical model 9C, anevaluation portion 10D, a real compensator 13B, a simulation compensator14B, and adders 15 and 16. The machine system 12, observation device 4,and position instruction generator 6 are identical to those of the priorart.

The real PID controlling portion 7, simulation PID controlling portion8, and adders 15 and 16 are those described above, and hereinafter,overlapping description thereof is omitted.

FIG. 40 is a block diagram showing a detailed construction of the realcompensator 13B. In FIG. 40, the real compensator 13B is composed of thefirst real compensator 13 cB, the second real compensator 13 dB, andreal switch 13 aB.

FIG. 41 is a block diagram showing a detailed construction of the firstreal compensator 13 bB. In FIG. 41, the real compensator 13 dB iscomposed of one secondary differentiator and one coefficient unit.

FIG. 42 is a block diagram showing a detailed construction of the secondreal compensator 13 cB. In FIG. 42, the real compensator 13 cB iscomposed of one secondary differentiator and two coefficient units, andone adder.

FIG. 43 is a block diagram showing a detailed construction of the secondreal compensator 13 dB. In FIG. 43, the real compensator 13 dB iscomposed of one secondary differentiator, one differentiator, threecoefficient units, and one adder.

FIG. 36 is a block diagram showing a detailed construction of asimulation compensator 14B. In FIG. 36, the real compensator 14B iscomposed of the first simulation compensator 14 bB, the secondsimulation compensator 14 cB and a simulation switch 14 aB.

FIG. 37 is a block diagram showing a detailed construction of the firstsimulation compensator 14 bB. In FIG. 37, the simulation compensator 14bB is composed of a secondary differentiator and a coefficient unit.

FIG. 38 is a block diagram showing a detailed construction of the firstsimulation compensator 14 cB. In FIG. 38, the simulation compensator 14cB is composed of a secondary differentiator, two coefficient units, andan adder.

FIG. 39 is a block diagram showing a detailed construction of the secondsimulation compensator 14 dB. In FIG. 39, the simulation compensator. 14dB is composed of a secondary differentiator, a differentiator, threecoefficient units, and an adder.

FIG. 44 is a block diagram showing a detailed construction of the2-inertia numerical model 9C. In FIG. 44, the 2-inertia numerical model9C is composed of four integrators, two coefficient units, twosubtracters, and an adder.

FIG. 45 is a block diagram showing a detailed construction of theabove-described evaluation portion 10D. In FIG. 45, the evaluationportion 10D is composed of an upper-grade controller 10 aD and anoptimization adjuster 10 b. The optimization adjuster 10 b is one thatis described above. Hereinafter, overlapping description thereof isomitted.

FIG. 47 is a block diagram showing a detailed construction of theabove-described upper-grade controller 10 aD. In FIG. 47, theupper-grade controller 10 aD is composed of a simulation instructionconverter 10 a 1, a canonical response generator 10 a 2, the thirdsignal processor 10 a 3, the first signal processor 10 a 4, anevaluation function unit 10 a 5, the second signal processor 10 a 6, acentral processor 10 a 7D, the second numerical processor 10 a 8D, andthe fist numerical processor 10 a 9D. The simulation instructionconverter 10 a 1, canonical response generator 10 a 2, third signalprocessor 10 a 3, first signal processor 10 a 4, evaluation functionunit 10 a 5, and second signal processor 10 a 6 are those describedabove, and overlapping description thereof is omitted hereinafter.

FIG. 46 is a block diagram showing a detailed construction of theabove-described central processor 10 a 7D. In FIG. 46, theabove-described central processor 10 a 7D is composed of an adjustmentstep 10 a 7 a, the first D step, and the second D step. The adjustmentstep 10 a 7 a is that described above. Hereinafter, overlappingdescription thereof is omitted.

Next, a description is given of actions of the seventh embodiment withreference to FIG. 35 through FIG. 47. First, the 2-inertia numericalmodel 9C shown in FIG. 44 carries out an approximation expression of theinput and output characteristics of the above-described machine system.In the 2-inertia numerical model 9 shown in FIG. 44, a simulationposition signal and a simulation speed signal are obtained by the fourintegrators, three adders and two coefficient units, which are shown inFIG. 44, with respect to the simulation torque signal inputted through aconnector 55CN1, and are, respectively, outputted through connectors55CN2 and 55CN3.

In the evaluation portion 10D shown in FIG. 45, the real positioninstruction and simulation position signal, which are inputted throughconnectors 52CN1 and 52CN2, are inputted into connectors 62CN1 and 62CN2of the upper-grade controller 10 aD. The first simulation positioninstruction signal is obtained through a connector 62CN3 of theupper-grade controller 10 aD by the upper-grade controller 10 aD andoptimization adjuster 10 b, and is outputted through the connector53CN3. A real position gain, real speed gain, real integration gain andreal compensation gain are obtained through a connector 62CN2 of theupper-grade controller 10 aD, and are outputted through the connector52CN2. A simulation position gain, simulation speed gain, simulationintegration gain, and simulation compensation gain are obtained througha connector 62CN4 of the upper-grade controller 10 aD, and are outputtedthrough a connector 52CN4.

In the upper-grade controller 10 aD shown in FIG. 47, the real positioninstruction that is inputted through the connector 62CN1 is inputtedinto a connector 8CN1 of the simulation instruction converter 10 a 1,the simulation position signal that is inputted through a connector62CN5 is inputted into a connector 13CN1 of the second signal processor10 a 6, and a child group of gains, which is inputted through aconnector 62CN6, is inputted into a connector 63CN10 of the centralprocessor 10 a 7D. By the simulation instruction converter 10 a 1,canonical response generator 10 a 2, third signal processor 10 a 3,first signal processor 10 a 4, evaluation function unit 10 a 5, secondsignal processor 10 a 6, central processor 10 a 7D, second numericalprocessor 10 a 8D, and first numerical processor 10 a 9D, the firstsimulation position instruction signal, which is obtained through aconnector 10CN1 of the third signal processor 10 a 3, is outputted fromthe connector 62CN3, an evaluation value array and a parent group ofgains, which are obtained through a connector 63CN9 of the centralprocessor 10 a 7D, are outputted through a connector 62CN7, a realposition gain, a real speed gain, and a real integration gain, which areobtained through a connector 64CN2 of the first numerical processor 10 a9D, are outputted through the connector 62CN2, and a simulation positiongain, a simulation speed gain and a simulation compensation gain, whichare obtained through a connector 65CN2 of the second numerical processor10 a 8D, are outputted through the connector 62CN4.

The first numerical processor 10 a 9D is provided with a means fordividing a new real gain array, which is inputted through a connector64CN1, into a real position gain, a real speed gain, and a realintegration gain, outputting the same through a connector 64CN2, andrenewing the real position gain, real speed gain and real integrationgain of the real PID controlling portion 7 and the real compensationgain of the real compensator 13B.

The second numerical processor 10 a 8D is provided with a means fordividing a new simulation gain array, which is inputted through aconnector 65CN1, into a simulation position gain, a simulation speedgain, a simulation integration gain, and a simulation compensation gain,outputting the same from a connector 65CN2, and renewing the simulationposition gain, simulation speed gain and simulation integration gain ofthe simulation PID controlling portion 8, and the simulation gain of thesimulation compensator 14B.

In the central processor 10 a 7B shown in FIG. 46, the first D step,second D step and adjustment step 10 a 7 a are carried out in thesequence shown in FIG. 46.

The first D step establishes a simulation position instruction array,canonical gain, the first size array, the second size array, the thirdsize array, number of child gains of the child group of gains, number ofparents of the parent group of gains, and number of generations.However, the parent gains of the parent group of gains are those thatare established so as to become a gain array including a position gain,speed gain, integration gain, and compensation gain. The compensationgain is one that is established so as to include coefficients of thecompensator and switching conditions of a switch.

The second D step initializes the parent groups of gains at random andcodes the parent groups of gains. In the real compensator 13B shown inFIG. 40, the second real torque signal is obtained from a connector20CN4 of the real switch 13 aB by the first real compensator 13 cB, thesecond real compensator 13 dB and real switch 13 aB with respect to thereal position instruction that is inputted through a connector 54CN1.

In the switch 14 aB shown in FIG. 40, the switching conditions of theswitch 14 aB are renewed by renewing the first element of the realcompensation gain that is inputted through a connector 20CN5, withrespect to the first real compensation torque signal that is inputtedthrough a connector 20CN1, the second real compensator torque signalthat is inputted through a connector 20CN2, and the third realcompensation torque signal that is inputted through a connector 20CN2,wherein any one of the same may be outputted from a connector 20CN4 fromthe first to third real compensation torque signals as the second realtorque signal.

In the first real compensator 13 dB shown in FIG. 41, the first realcompensation torque signal is obtained by one secondary differentiatorand one coefficient unit with respect to the real position instructioninputted through a connector 59CN1 and is outputted through a connector59CN2. However, the coefficient of the above-described coefficient unitis renewed by renewing the second element of the real compensation gaininputted through the connector 59CN3.

In the second real compensator 13 cB shown in FIG. 42, the second realcompensator torque signal is obtained by one secondary differentiator,two coefficient unit and one adder with the real position instructionthat is inputted through a connector 60CN1, and is outputted through aconnector 60CN2. However, the coefficient of the above-describedcoefficient unit is renewed by renewing the third element of the realcompensation gain that is inputted through a connector 63CN3.

In the third real compensator 13 dB shown in FIG. 43, the third realcompensation torque signal is obtained by one secondary differentiator,one differentiator, three coefficient units, and one adder with respectto the real position instruction that is inputted through the connector61CN1, and is outputted through a connector 61CN2. However, thecoefficient of the above-described coefficient units is renewed byrenewing the fourth element of the real compensation gain that isinputted through a connector 61CN3.

In the simulation compensator 14B shown in FIG. 36, the secondsimulation torque signal is obtained from a connector 21CN4 of thesimulation switch 14 aB by the first simulation compensator 14 cB, thesecond simulation compensator 13 dB, and simulation switch 14 aB withrespect to the simulation position instruction that is inputted througha connector 53CN1, and is outputted through a connector 53CN2.

In the switch 14 aB shown in FIG. 36, with respect to the firstsimulation compensation torque signal that is inputted through aconnector 21CN1, the second simulation compensation torque signal thatis inputted through a connector 21CN2, and the third simulationcompensation torque signal that is inputted through a connector 21CN3,the switching conditions of the switch 14 aB are renewed by renewing thefirst element of the simulation compensation gain that is inputtedthrough a connector 21CN5, wherein any one of the first simulationcompensation torque through the third simulation compensation torque isoutputted through a connector 21CN4 as the second simulation torquesignal.

In the first simulation compensator 14 bB shown in FIG. 37, the firstsimulation compensation torque signal is obtained by one secondarydifferentiator and one coefficient unit with the simulation positioninstruction that is inputted through a connector 56CN1, and is outputtedfrom a connector 56CN2. However, the coefficient of the above-describedcoefficient unit is renewed by renewing the second element of thesimulation compensation gain that is inputted through a connector 56CN3.

In the second simulation compensator 14 cB shown in FIG. 38, the secondsimulation compensation torque signal is obtained by one secondarydifferentiator, two coefficient units and one adder with respect to thesimulation position instruction that is inputted through a connector57CN1, and is outputted from a connector 57CN2. However, the coefficientof the above-described coefficient unit is renewed by renewing the thirdelement of the simulation compensation gain that is inputted through aconnector 57CN3.

In the third simulation compensator 14 dB shown in FIG. 39, the thirdsimulation compensation torque signal is obtained by one secondarydifferentiator, one differentiator, three coefficient units and oneadder with respect to the simulation position instruction that isinputted through a connector 58CN1, and is outputted from a connector58CN2. However, the coefficient of the above-described coefficient unitis renewed by renewing the fourth element of the simulation compensationgain that is inputted through a connector 58CN3.

Hereinafter, a description is given of the eighth embodiment of theinvention with reference to FIG. 48 and FIG. 49.

FIG. 48 is a block diagram showing the entirety of the eighth embodimentof the invention. In FIG. 48, the eighth embodiment according to theinvention is composed of a machine system 12, an observation device 4A,a position instruction generator 6, a real PID controlling portion 7A, asimulation PID controlling portion 8A, a 2-inertia numerical model 9D,an evaluation portion 10D, a real compensator 13B, a simulationcompensator 14B, and adders 15 and 16, wherein the load machine 1,transmission 2, drive unit 3, observation device 4A, power conversioncircuit 5, and position instruction generator 6 are identical to thosein the prior art.

The real PID controlling portion 7A, simulation PID controlling portion8A, evaluation portion 10, real compensator 13, simulation compensator14, and adders 15 and 16 are those described above. Hereinafter,overlapping description thereof is omitted.

FIG. 49 is a block diagram showing a detailed construction of theabove-2-inertia numerical model 9D. In FIG. 49, the above-described2-inertia numerical model 9D is composed of four integrators, twocoefficient units, two subtracters and one adder.

The 2-inertia numerical model 9D shown in FIG. 49 carries out anapproximation expression of the input and output characteristics of theabove-described machine system 12. In the 2-inertia numerical model 9Dshown in FIG. 49, a simulation position signal is obtained by the fourintegrators, three adders and two coefficient units, which are shown inFIG. 49, with respect to the simulation torque signal that is inputtedthrough a connector 66CN1, and is outputted from a connector 66CN3.

Hereinafter, a description is given of the ninth embodiment of theinvention with reference to FIG. 50 through FIG. 62. FIG. 51 is a blocdiagram showing the entirety of the ninth embodiment of the invention.In FIG. 51, the ninth embodiment of the invention is composed of amachine system 12, an observation device 4B, a speed instructiongenerator 6A, a real PI controlling portion 7B, a simulation PIcontrolling portion 8B, a 2-inertia numerical model 9E, an evaluationportion 10E, a real compensator 13C, a simulation compensator 14C,adders 15 and 16. The machine system 12 and speed instruction generator6A are identical to those of the prior arts.

The real PI controlling portion 7B, simulation PI controlling portion8B, adders 15 and 16 are those that are described above. Hereinafter,overlapping description thereof is omitted.

FIG. 56 is a block diagram showing a detailed construction of the realcompensator 13C. In FIG. 56, the real compensator 13C is composed of thefirst real compensator 13 cC, the second real compensator 13 dC, and areal switch 13 aB.

FIG. 57 is a block diagram showing a detailed construction of the firstreal compensator 13 bC. In FIG. 57, the real compensator 13 bC iscomposed of one differentiator and one coefficient unit.

FIG. 58 is a block diagram showing a detailed construction of the secondreal compensator 13 cC. In FIG. 58, the real compensator 13 cC iscomposed of one differentiator, two coefficient units and one adder.

FIG. 59 is a block diagram showing a detailed construction of the thirdreal compensator 13 dC. In FIG. 59, the real compensator 13 dC iscomposed of one differentiator, three coefficient units, and one adder.

FIG. 52 is a block diagram showing a detailed construction of thesimulation compensator 14C. In FIG. 52, the simulation compensator 14Cis composed of the first simulation compensator 14CC, the secondsimulation compensator 14 dC and a simulation switch 14 aB.

FIG. 53 is a block diagram showing a detailed construction of the firstsimulation compensator 14 bC. In FIG. 53, the simulation compensator 14bC is composed of one differentiator and one coefficient unit.

FIG. 54 is a block diagram showing a detailed construction of the secondsimulation compensator 14 cC. In FIG. 54, the simulation compensator 14cC is composed of one differentiator, two coefficient units and oneadder.

FIG. 55 is a block diagram showing a detailed construction of the thirdsimulation compensator 14 dC. In FIG. 55, the simulation compensator 14dC is composed of one differentiator, three coefficient units, and oneadder.

FIG. 50 is a block diagram showing a detailed construction of the2-inertia numerical model 9E. In FIG. 50, the 2-inertia numerical model9E is composed of four integrators, two coefficient units, twosubtracters, and one adder.

FIG. 60 is a block diagram showing a detailed construction of theabove-described evaluation portion 10E. In FIG. 60, the evaluationportion 10E is composed of an upper-grade controller 10 aE and anoptimization adjuster 10 b. The optimization adjuster 10 b is one thatis described above. Hereinafter, overlapping description thereof isomitted.

FIG. 62 is a block diagram showing a detailed construction of theabove-described upper-grade controller 10 aE. In FIG. 62, theupper-grade controller 10 aE is composed of a simulation instructionconverter 10 a 1, a canonical response generator 10 a 2A, the thirdsignal processor 10 a 3, the first signal processor 10 a 4, anevaluation function unit 10 a 5, the second signal processor 10 a 6, acentral processor 10 a 7E, the second numerical processor 10 a 8E, andthe first numerical processor 10 a 9E. The simulation instructionconverter 10 a 1, canonical response generator 10 a 2A, the third signalprocessor 10 a 3, the first signal processor 10 a 4, evaluation functionunit 10 a 5, and the second signal processor 10 a 6 are those describedabove. Hereinafter, overlapping thereof is omitted.

FIG. 59 is a flow chart showing a detailed construction of theabove-described central processor 10 a 7E. In FIG. 59, the centralprocessor 10 a 7E is composed of an adjustment step 10 a 7 a, the firstE step, and the second E step. The adjustment step 10 a 7 a is one thatis described above. Hereinafter, overlapping description is omitted.

Next, a description is given of actions of the ninth embodiment withreference to FIG. 50 through FIG. 62.

First, the 2-inertia numerical model 9E shown in FIG. 50 carries out anapproximation expression of the input and output characteristics of theabove-described machine system 12. In the 2-inertia numerical model 9Eshown in FIG. 50, a simulation speed signal is obtained by the fourintegrators, three adders and two coefficient units, which are shown inFIG. 50, with respect to the simulation torque signal that is inputtedthrough a connector 67CN1, and is outputted through a connector 67CN3.

In the evaluation portion 10E shown in FIG. 60, the real speedinstruction and simulation speed signal, which are inputted throughconnectors 66CN1 and 66CN5, are inputted into connectors 78CN1 and 78CN5of the upper-grade controller 10 aE. The first simulation speedinstruction signal is obtained from a connector 78CN3 of the upper-gradecontroller 10 aE by the upper-grade controller 10 aE and optimizationadjuster 10 b, and are outputted through a connector 66CN3. The realspeed gain, real integration gain, and real compensation gain areobtained through a connector 78CN2 of the upper-grade controller 10 aE,and are outputted from a connector 66CN2. The simulation speed gain,simulation integration gain and simulation compensation gain areobtained from a connector 78CN4 of the upper-grade controller 10 aE, andare outputted from a connector 66CN4.

In the upper-grade controller 10 aE shown in FIG. 62, the real speedinstruction that is inputted through a connector 78CN1 is inputted intoa connector 8CN1 of the simulation instruction converter 10 a 1. Thesimulation speed signal that is inputted through a connector 78CN5 isinputted into a connector 13CN1 of the second signal processor 10 a 6. Achild group of gains, which are inputted through a connector 78CN6, areinputted into a connector 79CN10 of the central processor 10 a 7E. Bythe simulation instruction converter 10 a 1, canonical responsegenerator 10 a 2A, the third signal processor 10 a 3, the first signalprocessor 10 a 4, evaluation function unit 10 a 5, the second signalprocessor 10 a 6, central processor 10 a 7E, the second numericalprocessor 10 a 8E, and the first numerical processor 10 a 9E, the firstsimulation position instruction signal obtained from the connector 10CN1of the third signal processor 10 a 3 is outputted from a connector78CN3, and the evaluation value array and parent group of gains, whichare obtained a connector 79CN9 of the central processor 10 a 7E, areoutputted from a connector 78CN7. Further, the real speed gain realintegration gain, and real compensation gain, which are obtained from aconnector 80CN2 of the first numerical processor 10 a 9E, are outputtedfrom a connector 78CN2, and the simulation speed gain, simulationintegration gain and simulation compensation gain, which are obtainedfrom a connector 81CN2 of the second numerical processor 10 a 8E, areoutputted from a connector 78CN4.

The first numerical processor 10 a 9E is provided with a means fordividing a new real gain array, which is inputted through a connector80CN1, into a real speed gain, real integration gain and realcompensation gain, outputting the same from a connector 80CN2, andrenewing the real speed gain and real integration of the real PIcontrolling portion 7B, and the real compensation gain of the realcompensator 13C.

The second numerical processor 10 a 8E is provided with a means fordividing a new simulation gain array, which is inputted through aconnector 81CN1, into a simulation speed gain, simulation integrationgain and simulation compensation gain, outputting the same through aconnector 81CN2, and renewing the simulation position gain, simulationspeed gain and simulation integration gain of the simulation PIcontrolling portion, and the simulation compensation gain of thesimulation compensator 14C.

In the central processor 10 a 7E shown in FIG. 61, the first E step,second E step and adjustment step 10 a 7 a are carried out in thesequence shown in FIG. 61.

The first E step establishes a simulation speed instruction array,canonical gain, the first size array, the second size array, the thirdsize array, number of child gains in a child group of gains, number ofparent gains in a parent group of gains, and number of generations.However, the parent gains in the parent group of gains are thoseestablished so as to become a gain array including a speed gain,integration gain and compensation gain. The compensation gain isestablished so as to include coefficients of the compensator andswitching conditions of the switch.

The second E step initializes the parent group of gains at random andcodes the parent group of gains.

In the real compensator 13C shown in FIG. 56, the second real torquesignal is obtained from a connector 20CN4 of the real switch 13 aB bythe first real compensator 13 cC, the second real compensator 13 dC andreal switch 13 aB with respect to the real speed instruction that isinputted through a connector 70CN1, and is outputted from a connector70CN2.

The switch shown in FIG. 56 is one that is described above. Hereinafter,overlapping description thereof is omitted.

In the first real compensator 13 bC shown in FIG. 57, the first realcompensation torque signal is obtained by one differentiator and onecoefficient unit with respect to the real speed instruction that isinputted through a connector 75CN1, and is outputted from a connector75CN2. However, the coefficient of the above-described coefficient unitis renewed by renewing the second element of the real compensation gainthat is inputted through a connector 75CN3.

In the second real compensator 13 cC shown in FIG. 58, the second realcompensation torque signal is obtained by one differentiator, twocoefficient units and one adder with respect to the real speedinstruction that is inputted through 67CN1, and is outputted from aconnector 76CN2. However, the coefficient of the above-describedcoefficient unit is renewed by renewing the third element of the realcompensation gain that is inputted through a connector 76CN3.

In the third real compensator 13 dC shown in FIG. 59, the third realcompensation torque signal is obtained by one differentiator, threecoefficient units and one adder with respect to the real positioninstruction that is inputted through 77CN1, and is outputted from aconnector 77CN2. However, the coefficient of the above-describedcoefficient unit is renewed by renewing the fourth element of the realcompensation gain that is inputted through a connector 77CN3.

In the simulation compensator 14C shown in FIG. 52, the secondsimulation torque signal is obtained from a connector 21CN4 of thesimulation switch 14 aB by the first simulation compensator 14 cC, thesecond simulation compensator 14 dC and simulation switch 14 aB withrespect to the simulation speed instruction that is inputted through aconnector 69CN1, and is outputted from a connector 69CN2.

The switch 14 aB shown in FIG. 52 is one that is described above.Hereinafter, overlapping description thereof is omitted.

In the first simulation compensator 14 bC shown in FIG. 53, the firstsimulation compensation torque signal is obtained by one differentiatorand one coefficient unit with respect to the simulation speedinstruction that is inputted through a connector 72CN1, and is outputtedfrom a connector 72CN2. However, the coefficient of the above-describedcoefficient unit is renewed by renewing the second element of thesimulation compensation gain that is inputted through a connector 72CN3.

In the second simulation compensator 14 cC shown in FIG. 54, the secondsimulation compensation torque signal is obtained by one differentiator,two coefficient units and one adder with respect to the simulation speedinstruction that is inputted through a connector 73CN1, and is outputtedfrom a connector 73CN2. However, the coefficient of the above-describedcoefficient unit is renewed by renewing the third element of thesimulation compensation gain that is inputted through a connector 73CN3.

In the third simulation compensator 14 dC shown in FIG. 55, the thirdsimulation compensation torque signal is obtained by one differentiator,three coefficient units and one adder with respect to the simulationspeed instruction that is inputted through a connector 74CN1, and isoutputted from a connector 74CN2. However, the coefficient of theabove-described coefficient units is renewed by renewing the fourthelement of the simulation compensation gain that is inputted through aconnector 74CN3.

Hereinafter, a description is given of the tenth embodiment of theinvention with reference to FIG. 63 through FIG. 71.

FIG. 63 is a block diagram showing the entirety of the tenth embodimentof the invention. In FIG. 63, the tenth embodiment of the invention iscomposed of a machine system 12, an observation device 4, a positioninstruction generator 6, a real PID controlling portion 7, a simulationPID controlling portion 8, a 2-inertia numerical model 9F, an evaluationportion 10F, a real compensator 13B, a simulation compensator 14B,adders 15 and 16, and a relay 17. The machine system 12, observationdevice 4, and position instruction generator 6 are identical to thosedescribed above.

The real PID controlling portion 7, real compensator 13B, simulationcompensator 14B, simulation PID controlling portion 8, adders 15 and 16are those that are described above. Hereinafter overlapping descriptionthereof is omitted.

FIG. 64 is a block diagram showing a detailed construction of the2-inertia numerical model 9F. In FIG. 64, the 2-inertia numerical model9F is composed of four integrators, three coefficient units, twosubtracters, and one adder.

FIG. 65 is a block diagram showing a detailed construction of theabove-described evaluation portion 10F. In FIG. 65, the evaluationportion 10F is composed of an upper-grade controller 10 aF and anoptimization adjuster 10 b. The optimization adjuster 10 b is one thatis described above. Hereinafter, overlapping description is omitted.

FIG. 66 is a block diagram showing a detailed construction of theabove-described upper-grade controller 10 aF. In FIG. 66, theupper-grade controller 10 aF is composed of a simulation instructionconverter 10 a 1, canonical response generator 10 a 2B, the third signalprocessor 10 a 3, the first signal processor 10 a 4, evaluation functionunit 10 a 5, the second signal processor 10 a 6, central processor 10 a7F, the second numerical processor 10 a 8D, the first numericalprocessor 10 a 9D, and the third numerical processor 10 a 10. Thesimulation instruction converter 10 a 1, the third signal processor 10 a3, the first signal processor 10 a 4, evaluation function unit 10 a 5,the second signal processor 10 a 6, the second numerical processor 10 a8D and the first numerical processor 10 a 9D are those that aredescribed above. Hereinafter, overlapping description thereof isomitted.

FIG. 67 is a block diagram showing a detailed construction of theabove-described canonical response generator 10 a 2B. In FIG. 67, thecanonical response generator 10 a 2B is composed of a canonical responsegenerator 10 a 2 a for adjusting a control gain, and a contact set 17 bof the relay 17. The canonical response generator 10 a 2 a for adjustingthe control gain is one that is described above. Hereinafter,overlapping description thereof is omitted.

FIG. 68 is a block diagram showing a detailed construction of theabove-described relay 17. In FIG. 68, the relay 17 is a commonly usedrelay. It is composed of at least a contact set 17 a, a contact set 17 band a relay condition side.

FIG. 69 is a flow chart showing a detailed construction of theabove-described central processor 10 a 7F. In FIG. 69, theabove-described central processor 10 a 7F is composed of the first Fstep, second F step, identification step 10 a 7 b, first G step, secondG step and adjustment step 10 a 7 a. The adjustment step 10 a 7 a is onethat is described above. Hereinafter, overlapping description thereof isomitted.

FIG. 70 is a flow chart showing a detailed construction of theabove-described identification step 10 a 7 b. In FIG. 70, theidentification step 10 a 7 b is composed of the twelfth throughfourteenth steps, third a step, fourth a step, fifth step, sevenththrough tenth steps, first relay controlling portion, second relaycontrolling portion, first loop controlling portion and second loopcontrolling portion.

Next, a description is given of actions of the tenth embodiment withreference to FIG. 63 through FIG. 70. First, the 2-inertia numericalmodel 9F shown in FIG. 63 carries out an approximation expression of theinput and output characteristics of the above-described machine system.In the 2-inertia numerical model 9F shown in FIG. 63, a simulationposition signal and a simulation speed signal are obtained by the fourintegrators, one adder, three coefficient units, and two subtracters,which are shown in FIG. 63, with respect to the simulation torque signalthat is inputted through a connector 83CN1, and are, respectively,outputted through connectors 83CN2 83CN3. However, respectivecoefficients of the coefficient unit of the 2-inertia numerical model 9Fare renewed by renewing the numerical gains that are inputted through aconnector 83CN4.

In the evaluation portion 10F shown in FIG. 64, the real positioninstruction and simulation position signal that are inputted throughconnectors 82CN1 and 82CN5 are inputted into connectors 84CN1 and 84CN5of the upper-grade controller 10 aF, and the real position signal thatis inputted through a connector 82CN8 is inputted into a connector84CN10 of the upper-grade controller 10 aF. The first simulationposition instruction signal is obtained from a connector 84CN3 of theupper-grade controller 10 aF by means of the upper-grade controller 10aF and optimization adjuster 10 b, and is outputted from a connector82CN3. The real position gain, real speed gain, real integration gainand real compensation gain are obtained through a connector 84CN2 of theupper-grade controller 10 aF, and are outputted from a connector 82CN2.The simulation position gain, simulation speed gain, simulationintegration gain and simulation compensation gain are obtained through aconnector 84CN4 of the upper-grade controller 10 aF, and are outputtedfrom a connector 82CN4. The first real position instruction signal isobtained through a connector 84CN9 of the upper-grade controller 10 aFand is outputted from a connector 82CN7.

In the upper-grade controller 10 a shown in FIG. 66, the real positioninstruction that is inputted through a connector 84CN1 is inputted intoa connector 8CN1 of the simulation instruction converter 10 a 1, and thesimulation position signal that is inputted through a connector 84CN5 isinputted into a connector 13CN1 of the second signal processor 10 a 6. Achild group of gains, which are inputted through a connector 84CN6, areinputted into a connector 86CN1 of the central processor 10 a 7F, andthe real position signal that is inputted through a connector 84CN10 isinputted into a connector 85CN6 of the canonical response generator 10 a2B. By the simulation instruction converter 10 a 1, canonical responsegenerator 10 a 2B, the third signal processor 10 a 3, the first signalprocessor 10 a 4, evaluation function unit 10 a 5, the second signalprocessor 10 a 6, central processor 10 a 7D, the second numericalprocessor 10 a 8D, the first numerical processor 10 a 9D, and the thirdnumerical processor 10 a 10, the first simulation position instructionsignal that is obtained through a connector 10CN1 of the third signalprocessor 10 a 3 is outputted from a connector 84CN3, and the evaluationvalue array and parent group of gains, which are obtained from aconnector 86CN9 of the central processor 10 a 7F, are outputted from aconnector 84CN7. The real position gain, real speed gain, realintegration gain and real compensation gain, which are obtained from aconnector 64CN2 of the first numerical processor 10 a 9D, are outputtedfrom a connector 84CN2. The simulation position gain, simulation speedgain, simulation integration gain and simulation compensation gain,which are obtained from a connector 65CN2 of the second numericalprocessor 10 a 8D, are outputted from a connector 84CN4. The numericalgain that is obtained from a connector 87CN2 of the third numericalprocessor 10 a 10 is outputted from a connector 84CN8, and the firstreal position instruction signal that is obtained from a connector 85CN5of the canonical response generator 10 a 2B is outputted from aconnector 84CN9.

In the canonical response generator 10 a 2B shown in FIG. 67, the secondsimulation position instruction signal that is inputted through aconnector 85CN1 is inputted into a connector 22CN2 of the canonicalresponse generator 10 a 2 a for adjusting a control gain. The realposition signal that is inputted through a connector 85CN6 is inputtedinto the contact set 17 b of the relay 17. The canonical response signalis obtained from an output of the contact set 17 b by the situations ofthe canonical response generator 10 a 2 a for adjustment and the contactset 17 b, and is outputted from a connector 85CN4. The canonicalresponse generator 10 a 2 a for adjusting the control gain is one thatis described above. Hereinafter, overlapping description is omitted.

In the central processor 10 a 7F shown in FIG. 69, the first F step,second F step identification step 10 a 7 b, first G step, second G stepand adjustment step 10 a 7 a are carried out in the sequence shown inFIG. 69.

The first F step establishes a simulation position instruction array,canonical gain, first size array, second size array, third size array,number of child gains in the child group of gains, number of parentgains in the parent group of gains, and number of generations. However,the parent gains in the parent group of gains are established so as tobecome a numerical gain array including coefficients of respectivecoefficients of the above-described 2-inertia numerical model 9F.

The second F step initializes the parent groups of gains at random andcodes the parent groups of gains.

The first G step establishes a simulation position instruction array,canonical gain, first size array, second size array, third size array,number of child gains in the child group of gains, number of parentgains in the parent group of gains, and number of generations. However,the parent gains in the parent group of gains are established so as tobecome a gain array including a position gain, speed gain, integrationgain, and compensation gain. The compensation gain is established so asto include a coefficient of the compensator and switching conditions ofthe switch.

The second G step initializes the parent group of gains at random andcodes the parent group of gains.

The adjustment step 10 a 7 a is one that is described above.Hereinafter, overlapping description is omitted.

In the identification step shown in FIG. 70, the twelfth throughfourteenth steps, seventh trough tenth steps, identification step 7 a 7b, third a step, fourth a step, fifth step, first loop controllingportion, second loop controlling portion, first relay controllingportion, and second relay controlling portion are carried out in thesequence shown in FIG. 70.

The twelfth step writes the default of the real gain array in aconnector 64CN1 of the first numerical processor 10 a 9D via a connector86CN5, and commences the next operation, whereby the respective gains ofthe real PID controlling portion and real compensator are initialized.

The thirteenth step writes the default of the simulation gain array in aconnector 65CN1 of the second numerical processor 10 a 8D via aconnector 86CN4, and commences a next operation, whereby the respectivegains of the simulation PID controlling portion and simulationcompensator are initialized.

The first relay controlling portion turns on the relay 17. Thereby, themode for identifying the 2-inertia numerical model 9F is enabled.

The third a step writes a simulation position instruction array in aconnector BCN2 of the simulation instruction converter 10 a 1 via aconnector 86CN8. Thereby, the second simulation instruction signal isobtained from a connector 8CN3 of the simulation instruction converter10 a 1.

The fourth a step writes a canonical gain in a connector 85CN3 of thecanonical response generator 10 a 2B via a connector 86CN7, whereby acanonical instruction signal is obtained from a connector 85CN2 of thecanonical response generator 10 a 2B, and a canonical response signal isobtained from a connector 85CN4 of the canonical response generator 10 a2B.

The fifth step, first loop controlling portion, second loop controllingportion, and seventh through tenth steps are those described above.Hereinafter, overlapping description is omitted.

The fourteenth step writes a numerical gain array, which is a parent ofthe parent group of gains, in a connector 87CN1 of the third numericalprocessor 10 a 10 in a fixed sequence through a connector 86CN11,whereby the coefficients of respective coefficient units of the2-inertia numerical model 9F are renewed through a connector 87CN2 ofthe third numerical processor 10 a 10.

The second relay controlling portion turns off the relay 17, therebyentering a mode for identifying a control gain.

Hereinafter, a description is given of the eleventh embodiment of theinvention with reference to FIG. 71 and FIG. 72. FIG. 71 is a blocdiagram showing the entirety of the eleventh embodiment of theinvention. In FIG. 71, the eleventh embodiment of the invention iscomposed of a machine system 12, an observation device 4A, a positioninstruction generator 6, a real PID controlling portion 7A, a simulationPID controlling portion 8A, a 2-inertia numerical model 9G, anevaluation portion 10F, a real compensator 13B, a simulation compensator14B, adders 15 and 16, and a relay 17. The machine system 12,observation device 4 and position instruction generator 6 are identicalto those in the prior arts.

The real PID controlling portion 7A, real compensator 13B, simulationcompensator 14B, simulation PID controlling portion 8A, adders 15 and16, relay 17 and evaluation 10F are those that are described above.Hereinafter, overlapping description is omitted.

FIG. 72 is a block diagram showing a detail construction of theabove-described 2-inertia numerical model 9G. In FIG. 72, theabove-described 2-inertia numerical model 9G is composed of fourintegrators, three coefficient units, two subtracters, and one adder.

The 2-inertia numerical model 9G shown in FIG. 72 carries out anapproximation expression of the input/output characteristics of theabove-described machine system. In the 2-inertia numerical model 9Gshown in FIG. 72, simulation position signals are obtained by the fourintegrators, one adder, three coefficient units and two subtracters,which are shown in FIG. 72, with respect to the simulation torque signalthat is inputted through a connector 88CN1, and are, respectively,outputted from a connector 88CN3. However, respective coefficients ofthe coefficient units of the 2-inertia numerical model 9G are renewed byrenewing numerical gains that are inputted through a connector 88CN4.

Hereinafter, a description is given of the twelfth embodiment of theinvention with reference to FIG. 73 through FIG. 78. FIG. 74 is a blockdiagram showing the entirety of the twelfth embodiment of the invention.In FIG. 74, the twelfth embodiment of the invention is composed of amachine system 12, an observation device 4B, a speed instructiongenerator 6A, a real PI controlling portion 7B, a simulation PIcontrolling portion 8B, a 2-inertia numerical model 9H, an evaluationportion 10G, a real compensator 13C, a simulation compensator 14C,adders 15 and 16, and a relay 17. The machine system 12 and speedinstruction generator 6A are identical to those in the prior arts.

The real PI controlling portion 7B, simulation PI controlling portion8B, adders 15 and 16, relay 17, real compensator 13C, and simulationcompensator 14C are those described above. Hereinafter, overlappingdescription is omitted.

FIG. 73 is a block diagram showing a detailed construction of theabove-described 2-inertia numerical model 9H. In FIG. 73, theabove-described 2-inertia numerical model 9H is composed of fourintegrators, three coefficient units, two subtracters and one adder.

FIG. 75 is a block diagram showing a detailed construction of theabove-described evaluation portion 10G. In FIG. 75, the evaluationportion 10G is composed of an upper-grade controller 10 aG and anoptimization adjuster 10 b. The optimization adjuster is one that isdescribed above. Hereinafter, overlapping description is omitted.

FIG. 76 is a block diagram showing a detailed construction of theabove-described upper-grade controller 10 aG. In FIG. 76, theupper-grade controller 10 aG is composed of a simulation instructionconverter 10 a 1, a canonical response generator 10 a 2C, the thirdsignal processor 10 a 3, the first signal processor 10 a 4, anevaluation function unit 10 a 5, the second signal processor 10 a 6, acentral processor 10 a 7F, the second numerical processor 10 a 8E, thefirst numerical processor 10 a 9E, and the third numerical processor 10a 10. The simulation instruction converter 10 a 1, the third signalprocessor 10 a 3, the first signal processor 10 a 4, evaluation functionunit 10 a 5, the second signal processor 10 a 6, the second numericalprocessor 10 a 8E, and the first numerical processor 10 a 9E are thosedescribed above. Hereinafter, overlapping description thereof isomitted.

FIG. 77 is a block diagram showing a detailed construction of theabove-described canonical response generator 10 a 2C. In FIG. 77, thecanonical response generator 10 a 2C is composed of a canonical responsegenerator 10 a 2 aA for adjusting a control gain, and a contact set 17 bof the relay 17. The canonical response generator 10 a 2 aA foradjusting the control gain and relay 17 are those described above.Hereinafter, overlapping description thereof is omitted.

FIG. 78 is a flow chart showing a detailed construction of theabove-described central processor 10 a 7G. In FIG. 78, theabove-described central processor 10 a 7G is composed of the first Hstep, the second H step, an identification step 10 a 7 b, the first Istep, the second I step, and adjustment step 10 a 7 a. The adjustmentstep 10 a 7 a and identification step 10 a 7 b are those describedabove. Hereinafter, overlapping description thereof is omitted.

Next, a description is given of actions of the twelfth embodiment withreference to FIG. 73 through FIG. 78. First, the 2-inertia numericalmodel 9H carries out an approximation expression of the input and outputcharacteristics of the above-described machine system. In the 2-inertianumerical model 9H shown in FIG. 73, a simulation speed signal isobtained by the four integrators, one adder and three coefficient units,which are shown in FIG. 73, with respect to the simulation torque signalthat is inputted through a connector 89CN, and is outputted through aconnector 89CN2. However, respective coefficients of the respectivecoefficient units are renewed by renewing numerical gains that areinputted through a connector 89CN4.

In the evaluation portion 10G shown in FIG. 75, the real speedinstruction and simulation speed signal that are inputted throughconnectors 90CN1 and 90CN5 are inputted into connectors 91CN1 and 91CN5of the upper-grade controller 10 aG. The real speed signal that isinputted through a connector 90CN8 is inputted into a connector 91CN10of the upper-grade controller 10 aG. The first simulation speedinstruction signal is obtained from a connector 91CN3 of the upper-gradecontroller 10 aG by the upper-grade controller 10 aG and optimizationadjuster 10 b and is outputted from a connector 90CN3. The real speedgain, real integration gain and real compensation gain are obtained froma connector 91CN2 of the upper-grade controller 10 aG, and are outputtedfrom a connector 90CN2. The simulation speed gain, simulationintegration gain and simulation compensation gain are obtained from aconnector 91CN4 of the upper-grade controller 10 aG and are outputtedthrough a connector 90CN4. The first speed instruction signal isobtained from a connector 91CN9 of the upper-grade controller 10 aG andis outputted from a connector 90CN7.

In the upper-grade controller 10 aG shown in FIG. 76, the real speedinstruction that is inputted through a connector 91CN1 is inputted intoa connector 81CN1 of the simulation instruction converter 10 a 1. Thesimulation speed signal that is inputted through a connector 91CN5 isinputted into a connector 13CN1 of the second signal processor 10 a 6.Child groups of gains that are inputted through a connector 91CN6 areinputted into a connector 93CN10 of the central processor 10 a 7G. Thereal speed signal that is inputted through a connector 91CN10 isinputted into a connector 92CN6 of the canonical response generator 10 a2C. By the simulation instruction converter 10 a 1, canonical responsegenerator 10 a 2C, the third signal processor 10 a 3, the first signalprocessor 10 a 4, evaluation function unit 10 a 5, the second signalprocessor 10 a 6, central processor 10 a 7D, the second numericalprocessor 10 a 8E, the first numerical processor 10 a 9E and the thirdnumerical processor 10 a 10, the first simulation speed instructionsignal that is obtained from a connector 10CN1 of the third signalprocessor 10 a 3 is outputted from a connector 91CN3. The evaluationvalue array and parent groups of gains, which are obtained from aconnector 93CN9 of the central processor 10 a 7G, are outputted from aconnector 91CN7, and the real speed gain, real integration gain and realcompensation gain, which are obtained from a connector 80CM2 of thefirst numerical processor 10 a 9E, are outputted from a connector 91CN2.The simulation speed gain, simulation integration gain and simulationcompensation gain, which are obtained from a connector 81CN2 of thesecond numerical processor 10 a 8E, are outputted from a connector91CN4. The numerical gain, which is obtained from a connector 87CN2 ofthe third numerical processor 10 a 10, outputted from a connector 91CN8,and the first real speed instruction signal, which is obtained from aconnector 92CN5 of the canonical response generator 10 a 2C is outputtedfrom a connector 91CN9.

In the canonical response generator 10 a 2C shown in FIG. 77, the secondsimulation speed instruction signal that is inputted through a connector91CN1 is inputted into a connector 36CN2 of the canonical responsegenerator 10 a 2 aA for adjusting a control gain. The real speed signalthat is inputted through a connector 92CN6 is inputted into a contactset 17 b of the relay 17. Depending on situations of the canonicalresponse generator 10 a 2 aA for adjustment and the contact set 17 b,the canonical response signal is obtained from an output of the contactset 17 b and is outputted from a connector 92CN4. The canonical responsegenerator 10 a 2 aA for adjusting the control gain is one that isdescribed above. Hereinafter, overlapping description thereof isomitted.

In the central processor 10 a 7G shown in FIG. 78, the first H step, thesecond H step, identification step 10 a 7 b, the first I step, thesecond I step and adjustment step 10 a 7 a are carried out in thesequence described in FIG. 69.

The first H step establishes a simulation speed instruction array,canonical gain, first size array, second size array, third size array,number of child gains of child groups of gains, number of parents ofparent groups of gains, and number of generations. However, The parentgains of the parent groups of gains are those that are established so asto become a numerical gain array including coefficients of therespective coefficient units of the above-described 2-inertia numericalmodel 9H.

The second H step initializes the parent groups of gains at random, andcodes the parent groups of gains.

The first I step establishes a simulation speed instruction array, acanonical gain, the first size array, the second size array, the thirdsize array, number of child gains of child groups of gains, number ofparent gains of parent group of gains, and number of generations.However, the parent gains of the parent groups of gains are those thatare established so as to become a gain array including a speed gain,integration gain, and compensation gain. The compensation gain is onethat is established so as to include a coefficient of a compensationunit and switching conditions.

The second I step initializes the parent groups of gains at random andcodes the parent groups of gains.

Industrial Applicability

As described above, according to aspects described in claims 1 through 3of the invention, by adding a simulation PID controlling portion 8 thathas the same structure as that of a real PID controlling portion 7, anevaluation portion 10 and a 2-inertia numerical model 9 that carries outan approximation calculation of the above-described machine system 12 tothe real controlling portion 18 consisting of an observation device 4and a real PID controlling portion 7, the following effect, which canautomatically and optimally adjust the PID control gain at a high speed,can brought about in PID control for positioning, which is provided withposition and speed metering devices.

According to as aspect described in claim 4 of the invention, by addinga simulation PID controlling portion 8A that has the same structure asthat of a real PID controlling portion 7A, an evaluation portion 10 anda 2-inertia numerical model 9A that carries out an approximationcalculation of the above-described machine system 12 to the realcontrolling portion 18A consisting of an observation device 4A and areal PID controlling portion 7A, the following effect, which canautomatically and optimally adjust the PID control gain at a high speed,can brought about in PID control for positioning, which is provided witha position metering device.

According to an aspect described in claim 5 of the invention, by addinga simulation PI controlling portion 8B that has the same structure asthat of a real PI controlling portion 7B, an evaluation portion 10 and a2-inertia numerical model 9B that carries out an approximationcalculation of the above-described machine system 12 to the realcontrolling portion 18B consisting of an observation device 41 and areal PI controlling portion 7B, the following effect, which canautomatically and optimally adjust the PI control gain at a high speed,can brought about in PI control for determining the speed, which isprovided with a speed metering device.

According to an aspect described in claim 6 of the invention, by addinga simulation controlling portion 19C, which consists of a simulation PIDcontrolling portion 8 having the same structure as that of the realcontrolling portion 18C and a simulation compensator 14, an evaluationportion 10B, and a 2-inertia numerical model 9 that carries out anapproximation calculation of the above-described machine system 12 tothe real controlling portion 18C consisting of an observation device 4,a real PID controlling portion 7 and a real compensator 13, thefollowing effect, which can automatically and optimally adjust the PIDcontrol gain and compensator gain at a high speed, can be brought aboutin PID control provided with a positioning compensator, which isprovided with position and speed metering devices.

According to an aspect described in claim 7 of the invention, by addinga simulation controlling portion 19D, which consists of a simulation PIDcontrolling portion 8A having the same structure as that of the realcontrolling portion 18D and a simulation compensator 14, an evaluationportion 10B, and a 2-inertia numerical model 9A that carries out anapproximation calculation of the above-described machine system 12 tothe real controlling portion 18D consisting of an observation device 4A,a real PID controlling portion 7A and a real compensator 13, thefollowing effect, which can automatically and optimally adjust the PIDcontrol gain and compensator gain at a high speed, can be brought aboutin PID control provided with a positioning compensator, which isprovided with a position metering devices.

According to an aspect described in claim 8 of the invention, by addinga simulation controlling portion 19E, which consists of a simulation PIcontrolling portion 8B having the same structure as that of the realcontrolling portion 18E and a simulation compensator 14A, an evaluationportion 10B, and a 2-inertia numerical model 9B that carries out anapproximation calculation of the above-described machine system 12 tothe real controlling portion 18E consisting of an observation device 4B,a real PI controlling portion 7B and a real compensator 13A, thefollowing effect, which can automatically and optimally adjust the PIcontrol gain and compensator gain at a high speed, can be brought aboutin PI control provided with a speed-determining compensator, which isprovided with a speed metering device.

According to an aspect described in claim 9 of the invention, by addinga simulation controlling portion 19F, which consists of a simulation PIDcontrolling portion 8 having the same structure as that of the realcontrolling portion 18F and a simulation compensator 14B, an evaluationportion 10D, and a 2-inertia numerical model 9C that carries out anapproximation calculation of the above-described machine system 12 tothe real controlling portion 18F consisting of an observation device 4,a real PID controlling portion 7 and a real compensator 13B, thefollowing effect, which can automatically and optimally adjust the PIDcontrol gain, the type and gain of a compensator at a high speed, can bebrought about in PID control provided with a positioning compensator,which is provided with position and speed metering devices.

According to an aspect described in claim 10 of the invention, by addinga simulation controlling portion 19G, which consists of a simulation PIDcontrolling portion 8A having the same structure as that of the realcontrolling portion 18G and a simulation compensator 14B, an evaluationportion 10D, and a 2-inertia numerical model 9D that carries out anapproximation calculation of the above-described machine system 12 tothe real controlling portion 18G consisting of an observation device 4A,a real PID controlling portion 7A and a real compensator 13B, thefollowing effect, which can automatically and optimally adjust the PIDcontrol gain, the type and gain of a compensator at a high speed, can bebrought about in PID control provided with a positioning compensator,which is provided with a position metering device.

According to an aspect described in claim 11 of the invention, by addinga simulation controlling portion 19H, which consists of a simulation PIcontrolling portion 8B having the same structure as that of the realcontrolling portion 18H and a simulation compensator 14C, an evaluationportion 10E, and a 2-inertia numerical model 9E that carries out anapproximation calculation of the above-described machine system 12 tothe real controlling portion 18H consisting of an observation device 4B,a real PI controlling portion 7B and a real compensator 13C, thefollowing effect, which can automatically and optimally adjust the PIcontrol gain, the type and gain of a compensator at a high speed, can bebrought about in PI control provided with a speed-determiningcompensator, which is provided with a speed metering device.

According to aspects described in claims 12 and 13 of the invention, byadding a simulation controlling portion 19F, which consists of asimulation PID controlling portion 8 having the same structure as thatof the real controlling portion 18F and a simulation compensator 14B, anevaluation portion 10F, and a 2-inertia numerical model 9F that carriesout an approximation calculation of the above-described machine system12 to the real controlling portion 18F consisting of an observationdevice 4, a real PID controlling portion 7 and a real compensator 13B,the following effect, which can automatically and optimally identifyparameters in the above-described machine system 12 and adjust the PIDcontrol gain, the type and gain of a compensator at a high speed, can bebrought about in PID control provided with a positioning compensator,which is provided with position and speed metering devices.

According to an aspect described in claim 14 of the invention, by addinga simulation controlling portion 19G, which consists of a simulation PIDcontrolling portion 8A having the same structure as that of the realcontrolling portion 18G and a simulation compensator 14B, an evaluationportion 10G, and a 2-inertia numerical model 9G that carries out anapproximation calculation of the above-described machine system 12 tothe real controlling portion 18G consisting of an observation device 4A,a real PID controlling portion 7A and a real compensator 13B, thefollowing effect, which can automatically and optimally identifyparameters in the above-described machine system 12 and adjust the PIDcontrol gain, the type and gain of a compensator at a high speed, can bebrought about in PID control provided with a positioning compensator,which is provided with a position metering device.

According to an aspect described in claim 15 of the invention, by addinga simulation controlling portion 19H, which consists of a simulation PIcontrolling portion 8B having the same structure as that of the realcontrolling portion 18H and a simulation compensator 14C, an evaluationportion 10H, and a 2-inertia numerical model 9H that carries out anapproximation calculation of the above-described machine system 12 tothe real controlling portion 18H consisting of an observation device 4B,a real PI controlling portion 7B and a real compensator 13C, thefollowing effect, which can automatically and optimally identifyparameters in the above-described machine system 12 and adjust the PIcontrol gain, the type and gain of a compensator at a high speed, can bebrought about in PI control provided with a speed-determiningcompensator, which is provided with a speed metering device.

What is claimed is:
 1. In a machine system, an apparatus for controllingan electric motor, comprising: a simulator section further comprising: aposition instruction generator for providing a real positioninstruction; a numerical model that simulates said machine system andprovides a simulation quantity of state on the basis of a simulationtorque signal; a simulation controller that provides said numericalmodel with the simulation torque signal on the basis of said simulationquantity of state, a simulation control parameter and a first simulationposition instruction signal; and an evaluation section that provides areal control parameter, a simulation control parameter, and a firstsimulation position signal on the basis of said real positioninstruction and said simulation quantity of state; and a real controllersection that provides a real torque signal to an electric motor, on thebasis of said real position instruction, said real control parameter anda real quantity of state observable from a real system.
 2. In a machinesystem, an apparatus for controlling an electric motor, comprising: asimulator section further comprising: a position instruction generatorfor providing a real position instruction; a numerical model thatsimulates said machine system and provides a simulation quantity ofstate on the basis of a simulation torque signal; a simulationcontroller that provides said numerical model with the simulation torquesignal on the basis of said simulation quantity of state, a simulationcontrol parameter and a first simulation position instruction signal,and an evaluation section that provides a real control parameter, asimulation control parameter, and a first simulation position signal onthe basis of said real position instruction and said simulation quantityof state by a means of a genetic algorithm; and a real controllersection that provides a real torque signal to an electric motor, on thebasis of said real position instruction, said real control parameter anda real quantity of state observable from a real system.
 3. The apparatusfor controlling an electric motor as set forth in claim 1, wherein saidapparatus is provided with a means for supplying control parameters,which are obtained by the evaluation unit of said simulation section tothe real control section after said simulation section is driven priorto a real operation and a simulation evaluation function for evaluatingthe behaviors of said numerical model satisfies the initial conditionsestablished in advance.
 4. The apparatus for controlling an electricmotor as set forth in claim 3, wherein said apparatus is provided withsaid numerical model that provides a simulation speed signal and asimulation position signal based on a simulation torque with respect toa given real position instruction; a simulation PI controlling sectionthat provides a simulation torque instruction to said numerical model onthe basis of the simulation speed signal and simulation position signalof said numerical model; and a real PI controlling section that providesa real torque signal on the basis of said real position instruction,real position signal and real speed signal.
 5. The apparatus forcontrolling an electric motor as set forth in claim 3, wherein saidapparatus is provided with a numerical model that provides a simulationposition signal on the basis of a simulation torque instruction with arespect to a given real position instruction; a simulation PIDcontrolling section that provides said numerical model with saidsimulation torque instruction on the basis of a simulation positionsignal of said numerical model; and a real PID controlling section thatprovides a real torque signal on the basis of said real positioninstruction and said real position signal.
 6. The apparatus forcontrolling an electric motor as set forth in claim 3, wherein saidapparatus is provided with a numerical model that provides a simulationspeed signal on the basis of a simulation torque instruction withrespect to a given real speed instruction; a simulation PID controllingsection that provides said numerical model with a simulation torqueinstruction on the basis of said simulation speed signal of saidnumerical model; and a real PI controlling section that provides a realtorque signal on the basis of said real speed instruction and real speedsignal.
 7. The apparatus for controlling an electric motor as set forthin claim 4, wherein said apparatus is provided with a simulationcontrolling section consisting of a simulation PID controlling section,which provides said numerical model with a simulation torque instructionon the basis of the simulation speed signal and simulation positionsignal of said numerical model, and a simulation compensating section;and a real controlling section consisting of a real PID controllingsection that provides a real torque signal based on the real positioninstruction, real position signal and real speed signal, and a realcompensating section.
 8. The apparatus for controlling an electric motoras set forth in claim 5, wherein said apparatus is provided with asimulation controlling section consisting of a simulation PIDcontrolling section, which provides said numerical model with asimulation torque instruction on the basis of the simulation positionsignal of said numerical model, and a simulation compensating section;and a real controlling section consisting of a real PID controllingsection, which provides a real torque on the basis of the real positioninstruction and real position signal; and a real controlling section. 9.The apparatus for controlling an electric motor as set forth in claim 6,wherein said apparatus is provided with a real controlling sectionconsisting of a simulation PI controlling section that provides saidnumerical model with a simulation torque instruction on the basis of asimulation speed signal of said numerical model, a simulationcompensating section, a real PI controlling section that provides a realtorque signal on the basis of a real speed instruction and said realspeed signal, and a real compensating section.
 10. The apparatus forcontrolling an electric motor as set forth in claim 4, wherein saidapparatus is provided with a simulation controlling section that isconstructed of a simulation PID controlling section, which provides saidnumerical model with a simulation torque instruction on the basis of asimulation speed signal of said numerical model and a simulationposition signal thereof, and a simulation controlling section consistingof a plurality of types of simulation compensators; and a realcontrolling section that is constructed of a real PID controllingsection, which provides a real torque signal on the basis of a realposition instruction, said real position signal and said real speedsignal, and a real compensating section consisting of a plurality oftypes of said real compensators.
 11. The apparatus for controlling anelectric motor as set forth in claim 5, wherein said apparatus isprovided with a simulation controlling section that is constructed of asimulation PID controlling section, which provides said numerical modelwith a simulation torque instruction on the basis of a simulationposition signal of said numerical model, and a simulation compensatingsection consisting of a plurality of types of simulation compensators;and a real controlling section that is constructed of a real PIDcontrolling section, which provides a real torque signal on the basis ofa real position instruction and said real position signal, and a realcompensating section consisting of a plurality of real compensators. 12.The apparatus for controlling an electric motor as set forth in claim 6,wherein said apparatus is provided with a simulation controlling sectionthat is constructed of a simulation PI controlling section, whichprovides said numerical model with a simulation torque instruction onthe basis of a simulation speed signal of said numerical model, and asimulation compensating section consisting of a plurality of types ofsimulation compensators; and a real controlling section that isconstructed of a real PI controlling section, which provides a realtorque signal on the basis of a real speed instruction and said realspeed signal, and a real compensating section consisting of a pluralityof real compensators.
 13. The apparatus for controlling an electricmotor as set forth in claim 1, wherein said apparatus comprise anumerical model by using an observable quantity of state, which isobtained by driving the real system based on the initial controllingparameters initially established by the real controlling section, and aninitial torque instruction given to a real driving section in theinitial state where said numerical model is constituted; driving thereal system after the controlling parameters are provided;re-determining said numerical model by, where the behaviors of the realsystem do not satisfy the on-real running evaluation functionestablished in advance, using the real running torque instruction atthat time and the observable quantity of real running state of the realsystem; and re-starting the simulator section to re-determine thecontrolling parameters in said evaluation section.
 14. The apparatus forcontrolling an electric motor as set forth in claim 13, wherein saidapparatus includes a simulation controlling section that is constructedof a simulation PID controlling section, which provides said numericalmodel with a simulation torque instruction on the basis of a simulationspeed signal of said numerical model and simulation position signalthereof, and a simulation compensating section consisting of a pluralityof types of simulation compensators; and a real controlling section thatis constructed of a real PID controlling section, which provides a realtorque signal on the basis of a real position instruction, said realposition signal and said real speed signal, and a real compensatingsection consisting of a plurality of real compensators.
 15. Theapparatus for controlling an electric motor as set forth in claim 13,wherein said apparatus includes a simulation controlling section that isconstructed of a simulation PID controlling section, which provides saidnumerical model with a simulation torque instruction on the basis of asimulation position signal of said numerical model, and a simulationcompensating section consisting of a plurality of types of simulationcompensators; and a real controlling section that is constructed of areal PID controlling section, which provides a real torque signal on thebasis of a real position instruction and said real position signal, anda real compensating section consisting of a plurality of realcompensators.
 16. The apparatus for controlling an electric motor as setforth in claim 13, wherein said apparatus includes a simulationcontrolling section that is constructed of a simulation PI controllingsection, which provides said numerical model with a simulation torqueinstruction on the basis of a simulation speed signal of said numericalmodel, and a simulation compensating section consisting of a pluralityof types of simulation compensators; and a real controlling section thatis constructed of a real PI controlling section, which provides a realtorque signal on the basis of a real speed instruction and said realspeed signal, and a real compensating section consisting of a pluralityof real compensators.